From 88a4f2baf1de736b6f95f5e9c493d8fdd4d829a3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 16:27:43 -0800 Subject: [PATCH 001/144] Onboarding: no buttons if no frame (#36909) no buttons if no frame --- selfdrive/ui/mici/layouts/onboarding.py | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index d358813411..5d44122214 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -237,19 +237,20 @@ class TrainingGuideDMTutorial(Widget): ring_color, ) - self._back_button.render(rl.Rectangle( - self._rect.x + 8, - self._rect.y + self._rect.height - self._back_button.rect.height, - self._back_button.rect.width, - self._back_button.rect.height, - )) + if self._dialog._camera_view.frame: + self._back_button.render(rl.Rectangle( + self._rect.x + 8, + self._rect.y + self._rect.height - self._back_button.rect.height, + self._back_button.rect.width, + self._back_button.rect.height, + )) - self._good_button.render(rl.Rectangle( - self._rect.x + self._rect.width - self._good_button.rect.width - 8, - self._rect.y + self._rect.height - self._good_button.rect.height, - self._good_button.rect.width, - self._good_button.rect.height, - )) + self._good_button.render(rl.Rectangle( + self._rect.x + self._rect.width - self._good_button.rect.width - 8, + self._rect.y + self._rect.height - self._good_button.rect.height, + self._good_button.rect.width, + self._good_button.rect.height, + )) # rounded border rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK) From 4e855683701949c5da290ac646de837e5301b14e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 17:02:19 -0800 Subject: [PATCH 002/144] MultiOptionDialog: support no default (#36912) fix --- selfdrive/ui/mici/widgets/dialog.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 3d9aa3f9e2..3cd9f8b2c2 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -323,8 +323,8 @@ class BigMultiOptionDialog(BigDialogBase): if default is not None: assert default in options - self._default_option: str = default or (options[0] if len(options) > 0 else "") - self._selected_option: str = self._default_option + self._default_option: str | None = default + self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "") self._last_selected_option: str = self._selected_option self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) @@ -344,7 +344,8 @@ class BigMultiOptionDialog(BigDialogBase): def show_event(self): super().show_event() self._scroller.show_event() - self._on_option_selected(self._default_option) + if self._default_option is not None: + self._on_option_selected(self._default_option) def get_selected_option(self) -> str: return self._selected_option From 2213f8f8a4002745ae67557ee518a8d374a9d701 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 17:10:12 -0800 Subject: [PATCH 003/144] MultiOptionDialog: tap activates current option (#36911) * works * clean up --- .../mici/layouts/settings/network/wifi_ui.py | 11 ++++----- selfdrive/ui/mici/widgets/dialog.py | 24 +++++++++++-------- 2 files changed, 19 insertions(+), 16 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index 374539c4ce..06347b5657 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -388,7 +388,7 @@ class WifiUIMici(BigMultiOptionDialog): else: network_button = WifiItem(network) - self.add_button(network_button) + self._scroller.add_widget(network_button) # remove networks no longer present self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks] @@ -402,11 +402,10 @@ class WifiUIMici(BigMultiOptionDialog): self._wifi_manager.connect_to_network(ssid, password) self._update_buttons() - def _on_option_selected(self, option: str, smooth_scroll: bool = True): - super()._on_option_selected(option, smooth_scroll) + def _on_option_selected(self, option: str): + super()._on_option_selected(option) - # only open if button is already selected - if option in self._networks and option == self._selected_option: + if option in self._networks: self._network_info_page.set_current_network(self._networks[option]) self._open_network_manage_page() @@ -453,7 +452,7 @@ class WifiUIMici(BigMultiOptionDialog): current_selection = self.get_selected_option() if self._restore_selection and current_selection in self._networks: self._scroller._layout() - BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False) + BigMultiOptionDialog._on_option_selected(self, current_selection) self._restore_selection = None super()._render(_) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 3cd9f8b2c2..eb36494ad4 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -328,18 +328,12 @@ class BigMultiOptionDialog(BigDialogBase): self._last_selected_option: str = self._selected_option self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) + self.set_touch_valid_callback(self._scroller.scroll_panel.is_touch_valid) if self._right_btn is not None: self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed) for option in options: - self.add_button(BigDialogOptionButton(option)) - - def add_button(self, button: BigDialogOptionButton): - def click_callback(_btn=button): - self._on_option_selected(_btn.option) - - button.set_click_callback(click_callback) - self._scroller.add_widget(button) + self._scroller.add_widget(BigDialogOptionButton(option)) def show_event(self): super().show_event() @@ -350,7 +344,7 @@ class BigMultiOptionDialog(BigDialogBase): def get_selected_option(self) -> str: return self._selected_option - def _on_option_selected(self, option: str, smooth_scroll: bool = True): + def _on_option_selected(self, option: str): y_pos = 0.0 for btn in self._scroller._items: btn = cast(BigDialogOptionButton, btn) @@ -366,11 +360,21 @@ class BigMultiOptionDialog(BigDialogBase): y_pos = rect_center_y - (btn.rect.y + height / 2) break - self._scroller.scroll_to(-y_pos, smooth=smooth_scroll) + self._scroller.scroll_to(-y_pos) def _selected_option_changed(self): pass + def _handle_mouse_release(self, mouse_pos: MousePos): + super()._handle_mouse_release(mouse_pos) + + # select current option + for btn in self._scroller._items: + btn = cast(BigDialogOptionButton, btn) + if btn.option == self._selected_option: + self._on_option_selected(btn.option) + break + def _update_state(self): super()._update_state() From 6249211745d6cc68fd7446c78e2c9b9a64ca1393 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 19:57:57 -0800 Subject: [PATCH 004/144] Update canError alert texts (#36918) * hmm * hmm it's small * can * ? * variant? * unknown --- selfdrive/selfdrived/events.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index c6dbcccbee..1acfa2964e 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -932,13 +932,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # - CAN data is received, but some message are not received at the right frequency # If you're not writing a new car port, this is usually cause by faulty wiring EventName.canError: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Unknown Vehicle Variant"), ET.PERMANENT: Alert( - "CAN Error: Check Connections", + "Unknown Vehicle Variant", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.), - ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"), + ET.NO_ENTRY: NoEntryAlert("Unknown Vehicle Variant"), }, EventName.canBusMissing: { From 631d6d9ef4f8c375843c64c6b3552e32adf7b363 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 21:26:52 -0800 Subject: [PATCH 005/144] Widget: mouse handlers don't use bool (#36921) * not used * lint --- selfdrive/ui/layouts/settings/settings.py | 8 +++----- system/ui/widgets/__init__.py | 6 ++---- 2 files changed, 5 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 72d3a4bafe..68f45df77d 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -145,20 +145,18 @@ class SettingsLayout(Widget): if panel.instance: panel.instance.render(content_rect) - def _handle_mouse_release(self, mouse_pos: MousePos) -> bool: + def _handle_mouse_release(self, mouse_pos: MousePos) -> None: # Check close button if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect): if self._close_callback: self._close_callback() - return True + return # Check navigation buttons for panel_type, panel_info in self._panels.items(): if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect): self.set_current_panel(panel_type) - return True - - return False + return def set_current_panel(self, panel_type: PanelType): if panel_type != self._current_panel: diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index a3fed6d962..8a46a3e43d 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -165,15 +165,13 @@ class Widget(abc.ABC): def _update_layout_rects(self) -> None: """Optionally update any layout rects on Widget rect change.""" - def _handle_mouse_press(self, mouse_pos: MousePos) -> bool: + def _handle_mouse_press(self, mouse_pos: MousePos) -> None: """Optionally handle mouse press events.""" - return False - def _handle_mouse_release(self, mouse_pos: MousePos) -> bool: + def _handle_mouse_release(self, mouse_pos: MousePos) -> None: """Optionally handle mouse release events.""" if self._click_callback: self._click_callback() - return False def _handle_mouse_event(self, mouse_event: MouseEvent) -> None: """Optionally handle mouse events. This is called before rendering.""" From 792a9b715c1c577f0adaf41c6fcc925884b2dc79 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 21:30:40 -0800 Subject: [PATCH 006/144] Widget: track mouse events (#36922) * track * fix * rm --- system/ui/widgets/__init__.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 8a46a3e43d..3768363486 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -26,6 +26,7 @@ class Widget(abc.ABC): self.__is_pressed = [False] * MAX_TOUCH_SLOTS # if current mouse/touch down started within the widget's rectangle self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS + self.__mouse_events: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS self._enabled: bool | Callable[[], bool] = True self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None @@ -125,12 +126,14 @@ class Widget(abc.ABC): if mouse_event.left_pressed and touch_valid: if mouse_in_rect: self._handle_mouse_press(mouse_event.pos) + self.__mouse_events[mouse_event.slot] = mouse_event self.__is_pressed[mouse_event.slot] = True self.__tracking_is_pressed[mouse_event.slot] = True self._handle_mouse_event(mouse_event) # Callback such as scroll panel signifies user is scrolling elif not touch_valid: + self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self.__tracking_is_pressed[mouse_event.slot] = False @@ -138,17 +141,20 @@ class Widget(abc.ABC): self._handle_mouse_event(mouse_event) if self.__is_pressed[mouse_event.slot] and mouse_in_rect: self._handle_mouse_release(mouse_event.pos) + self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self.__tracking_is_pressed[mouse_event.slot] = False # Mouse/touch is still within our rect elif mouse_in_rect: if self.__tracking_is_pressed[mouse_event.slot]: + self.__mouse_events[mouse_event.slot] = mouse_event self.__is_pressed[mouse_event.slot] = True self._handle_mouse_event(mouse_event) # Mouse/touch left our rect but may come back into focus later elif not mouse_in_rect: + self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self._handle_mouse_event(mouse_event) From b3c2daf9e58c5fe174d9d402aca80215e9763806 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 21:32:06 -0800 Subject: [PATCH 007/144] Revert "Widget: track mouse events (#36922)" https://github.com/commaai/openpilot/pull/36920#issuecomment-3668453692 This reverts commit 792a9b715c1c577f0adaf41c6fcc925884b2dc79. --- system/ui/widgets/__init__.py | 6 ------ 1 file changed, 6 deletions(-) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 3768363486..8a46a3e43d 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -26,7 +26,6 @@ class Widget(abc.ABC): self.__is_pressed = [False] * MAX_TOUCH_SLOTS # if current mouse/touch down started within the widget's rectangle self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS - self.__mouse_events: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS self._enabled: bool | Callable[[], bool] = True self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None @@ -126,14 +125,12 @@ class Widget(abc.ABC): if mouse_event.left_pressed and touch_valid: if mouse_in_rect: self._handle_mouse_press(mouse_event.pos) - self.__mouse_events[mouse_event.slot] = mouse_event self.__is_pressed[mouse_event.slot] = True self.__tracking_is_pressed[mouse_event.slot] = True self._handle_mouse_event(mouse_event) # Callback such as scroll panel signifies user is scrolling elif not touch_valid: - self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self.__tracking_is_pressed[mouse_event.slot] = False @@ -141,20 +138,17 @@ class Widget(abc.ABC): self._handle_mouse_event(mouse_event) if self.__is_pressed[mouse_event.slot] and mouse_in_rect: self._handle_mouse_release(mouse_event.pos) - self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self.__tracking_is_pressed[mouse_event.slot] = False # Mouse/touch is still within our rect elif mouse_in_rect: if self.__tracking_is_pressed[mouse_event.slot]: - self.__mouse_events[mouse_event.slot] = mouse_event self.__is_pressed[mouse_event.slot] = True self._handle_mouse_event(mouse_event) # Mouse/touch left our rect but may come back into focus later elif not mouse_in_rect: - self.__mouse_events[mouse_event.slot] = None self.__is_pressed[mouse_event.slot] = False self._handle_mouse_event(mouse_event) From a478b64ff3c0ac8356dbac31f907e6cf4090ca8e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 21:55:31 -0800 Subject: [PATCH 008/144] WifiUi: fix clicking (#36919) * fix * rm * rename * need this in case user swipes back to starting pos * better * better * clean up * cmt --- selfdrive/ui/mici/widgets/dialog.py | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index eb36494ad4..34760925a1 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -4,17 +4,17 @@ import pyray as rl from typing import Union from collections.abc import Callable from typing import cast -from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.wrap_text import wrap_text -from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos +from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider from openpilot.common.filter_simple import FirstOrderFilter from openpilot.selfdrive.ui.mici.widgets.button import BigButton +from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton DEBUG = False @@ -327,8 +327,10 @@ class BigMultiOptionDialog(BigDialogBase): self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "") self._last_selected_option: str = self._selected_option + # Widget doesn't differentiate between click and drag + self._can_click = True + self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) - self.set_touch_valid_callback(self._scroller.scroll_panel.is_touch_valid) if self._right_btn is not None: self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed) @@ -365,9 +367,23 @@ class BigMultiOptionDialog(BigDialogBase): def _selected_option_changed(self): pass + def _handle_mouse_press(self, mouse_pos: MousePos): + super()._handle_mouse_press(mouse_pos) + self._can_click = True + + def _handle_mouse_event(self, mouse_event: MouseEvent) -> None: + super()._handle_mouse_event(mouse_event) + + # # TODO: add generic _handle_mouse_click handler to Widget + if not self._scroller.scroll_panel.is_touch_valid(): + self._can_click = False + def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) + if not self._can_click: + return + # select current option for btn in self._scroller._items: btn = cast(BigDialogOptionButton, btn) From 89d9fdca82aab17bb85ee1c63db4c06f2dd262a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Dec 2025 23:15:22 -0800 Subject: [PATCH 009/144] WifiUi: tune wifi strengths (#36923) * tune wifi strengths * android nor ios show none or slash. it's always 1, 2, or 3 bars * match here * clean up --- .../ui/mici/layouts/settings/network/wifi_ui.py | 14 ++++---------- system/ui/lib/wifi_manager.py | 2 +- 2 files changed, 5 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index 06347b5657..565fef5af3 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -36,8 +36,6 @@ class WifiIcon(Widget): super().__init__() self.set_rect(rl.Rectangle(0, 0, 89, 64)) - self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 89, 64) - self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 89, 64) self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64) self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64) self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64) @@ -57,17 +55,13 @@ class WifiIcon(Widget): return # Determine which wifi strength icon to use - strength = round(self._network.strength / 100 * 4) - if strength == 4: + strength = round(self._network.strength / 100 * 2) + if strength == 2: strength_icon = self._wifi_full_txt - elif strength == 3: + elif strength == 1: strength_icon = self._wifi_medium_txt - elif strength == 2: - strength_icon = self._wifi_low_txt - elif self._network.strength < 0: - strength_icon = self._wifi_slash_txt else: - strength_icon = self._wifi_none_txt + strength_icon = self._wifi_low_txt icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2) icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 7e5f04ef6f..bd66b8e03a 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -631,7 +631,7 @@ class WifiManager: known_connections = self._get_connections() networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] # sort with quantized strength to reduce jumping - networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 4), n.ssid.lower())) + networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 2), n.ssid.lower())) self._networks = networks self._update_ipv4_address() From 13b8a67ae27210f0a8b7544afca219ea1c0a641c Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 18 Dec 2025 16:03:45 -0800 Subject: [PATCH 010/144] reset: fix button overlap (#36929) fix --- system/ui/mici_reset.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py index d9bb45d99a..925afd7d10 100755 --- a/system/ui/mici_reset.py +++ b/system/ui/mici_reset.py @@ -132,7 +132,7 @@ class Reset(Widget): if self._reset_state == ResetState.FAILED: return "Reset failed. Reboot to try again." if self._mode == ResetMode.RECOVER: - return "Unable to mount data partition. Partition may be corrupted." + return "Unable to mount data partition. It may be corrupted." return "All content and settings will be erased." From e4359e9acb76586e99434592cdf3ee3ccf9aaecd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 18 Dec 2025 17:15:47 -0800 Subject: [PATCH 011/144] api_get: use session (#36930) * use session * prob better for now * todo * same for firehose * no more stutters! * cmt --- common/api.py | 6 ++++-- selfdrive/ui/lib/prime_state.py | 4 +++- selfdrive/ui/mici/layouts/settings/firehose.py | 4 +++- 3 files changed, 10 insertions(+), 4 deletions(-) diff --git a/common/api.py b/common/api.py index 7ea278038d..ebf0290d15 100644 --- a/common/api.py +++ b/common/api.py @@ -42,14 +42,16 @@ class Api: return token -def api_get(endpoint, method='GET', timeout=None, access_token=None, **params): +def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params): headers = {} if access_token is not None: headers['Authorization'] = "JWT " + access_token headers['User-Agent'] = "openpilot-" + get_version() - return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params) + # TODO: add session to Api + req = requests if session is None else session + return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params) def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]: diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index e1ef387bf7..1aed949bee 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -1,5 +1,6 @@ from enum import IntEnum import os +import requests import threading import time @@ -29,6 +30,7 @@ class PrimeState: def __init__(self): self._params = Params() self._lock = threading.Lock() + self._session = requests.Session() # reuse session to reduce SSL handshake overhead self.prime_type: PrimeType = self._load_initial_state() self._running = False @@ -50,7 +52,7 @@ class PrimeState: try: identity_token = get_token(dongle_id) - response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token) + response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session) if response.status_code == 200: data = response.json() is_paired = data.get("is_paired", False) diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py index 10e52bb3b4..d305906e13 100644 --- a/selfdrive/ui/mici/layouts/settings/firehose.py +++ b/selfdrive/ui/mici/layouts/settings/firehose.py @@ -1,3 +1,4 @@ +import requests import threading import time import pyray as rl @@ -44,6 +45,7 @@ class FirehoseLayoutBase(Widget): def __init__(self): super().__init__() self._params = Params() + self._session = requests.Session() # reuse session to reduce SSL handshake overhead self._segment_count = self._get_segment_count() self._scroll_panel = GuiScrollPanel2(horizontal=False) @@ -203,7 +205,7 @@ class FirehoseLayoutBase(Widget): if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: return identity_token = get_token(dongle_id) - response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token) + response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token, session=self._session) if response.status_code == 200: data = response.json() self._segment_count = data.get("firehose", 0) From bb8a5bd476a98d61788c78959903b89d3e81440a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 18 Dec 2025 20:50:34 -0800 Subject: [PATCH 012/144] Fix slow DM onboarding (#36932) * slow * interesting * check * clean up --- selfdrive/ui/mici/layouts/onboarding.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index 5d44122214..16e96d6f7d 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -166,8 +166,8 @@ class TrainingGuideDMTutorial(Widget): def _update_state(self): super()._update_state() - if device.awake: - ui_state.params.put_bool("IsDriverViewEnabled", True) + if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"): + ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True) sm = ui_state.sm if sm.recv_frame.get("driverMonitoringState", 0) == 0: From dfd7a8c8d74b822a15738a2afedc8159990cd042 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 18 Dec 2025 22:02:46 -0800 Subject: [PATCH 013/144] AGNOS 16 (#36915) * stage * prod * bump reset --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 20 +++++------ system/hardware/tici/all-partitions.json | 44 ++++++++++++------------ 3 files changed, 33 insertions(+), 33 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index fcbee2ff8d..314366f429 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1 export QCOM_PRIORITY=12 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="15.1" + export AGNOS_VERSION="16" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 5a2a092aa8..e33a26bb2e 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c.img.xz", - "hash": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c", - "hash_raw": "90bd687e9e407834d4ee1b07f3d05527dfae0ff09c0cacd64cfd6097f6b10e2c", + "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz", + "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756", + "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756", "size": 17496064, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "35014c39b55010ac955c10f808b088e74259147c7a8cbf989b3dff7d95a1e8ae" + "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a" }, { "name": "system", - 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"hash_raw": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818", + "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz", + "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9", + "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd", "size": 4718592000, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "6ffa02f7113badc122742f33efebc5d17f1cd61dd6358f3e130c162707dbfaf4", + "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da", "alt": { - "hash": "d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818", - "url": "https://commadist.azureedge.net/agnosupdate/system-d9d476b466186014e7ae4b8232bc6fc5e79b122421bdc12ff4eb02d1c3f37818.img", + "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd", + "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img", "size": 4718592000 } }, { "name": "userdata_90", - 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"ondevice_hash": "48fefa5a1880a4fd3dd50e1f9ddee297122053556816baca310d495129bc8893" + "ondevice_hash": "8e7cb392dd6e49c7d59fa850be7d1f44901314c86ba9c88be5bb27a0cd1123c9" } ] \ No newline at end of file From 654338f9c7c096377ad39afc39122fdd207ce3d1 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 18 Dec 2025 22:52:14 -0800 Subject: [PATCH 014/144] update release instructions --- release/README.md | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/release/README.md b/release/README.md index fb651fa05a..7aeea9fe4a 100644 --- a/release/README.md +++ b/release/README.md @@ -4,18 +4,17 @@ ## release checklist ### Go to staging -- [ ] make a GitHub issue to track release +- [ ] make a GitHub issue to track release with this checklist - [ ] create release master branch -- [ ] update RELEASES.md + - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2` + - [ ] revert risky commits (double check with autonomy team) + - [ ] push the new branch +- [ ] push to staging: + - [ ] make sure you are on the newly created release master branch (`zerotentwo`) + - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch - [ ] bump version on master: `common/version.h` and `RELEASES.md` -- [ ] build new userdata partition from `release3-staging` - [ ] post on Discord, tag `@release crew` -Updating staging: -1. either rebase on master or cherry-pick changes -2. run this to update: `BRANCH=devel-staging release/build_devel.sh` -3. build new userdata partition from `release3-staging` - ### Go to release - [ ] before going to release, test the following: - [ ] update from previous release -> new release @@ -26,7 +25,7 @@ Updating staging: - [ ] check sentry, MTBF, etc. - [ ] stress test passes in production - [ ] publish the blog post -- [ ] `git reset --hard origin/release3-staging` +- [ ] `git reset --hard origin/release-mici-staging` - [ ] tag the release: `git tag v0.X.X && git push origin v0.X.X` - [ ] create GitHub release - [ ] final test install on `openpilot.comma.ai` From 1c2f9e6190210a870191ffb39c719f73b069b24c Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 18 Dec 2025 23:26:06 -0800 Subject: [PATCH 015/144] bump version to 0.10.4 --- RELEASES.md | 3 +++ common/version.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 3028351400..186f1bc047 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.10.4 (2026-02-17) +======================== + Version 0.10.3 (2025-12-17) ======================== * New driving model #36249 diff --git a/common/version.h b/common/version.h index c489ecc578..7e78d64b22 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.10.3" +#define COMMA_VERSION "0.10.4" From c3143f3833a1ca6f1b949e70df54d9753e8195a9 Mon Sep 17 00:00:00 2001 From: eFini Date: Sat, 20 Dec 2025 01:38:23 +0800 Subject: [PATCH 016/144] Multilang: update zh translation (#36933) --- selfdrive/ui/translations/app_zh-CHS.po | 6 +++--- selfdrive/ui/translations/app_zh-CHT.po | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/translations/app_zh-CHS.po b/selfdrive/ui/translations/app_zh-CHS.po index 16e4369476..2400b6f44a 100644 --- a/selfdrive/ui/translations/app_zh-CHS.po +++ b/selfdrive/ui/translations/app_zh-CHS.po @@ -200,7 +200,7 @@ msgstr "CONNECT" #: system/ui/widgets/network.py:369 #, python-format msgid "CONNECTING..." -msgstr "CONNECTING..." +msgstr "连接中..." #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318 @@ -1001,7 +1001,7 @@ msgstr "用于“{}”" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format msgid "km/h" -msgstr "公里/时" +msgstr "km/h" #: system/ui/widgets/network.py:204 #, python-format @@ -1021,7 +1021,7 @@ msgstr "计量" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format msgid "mph" -msgstr "英里/时" +msgstr "mph" #: selfdrive/ui/layouts/settings/software.py:20 #, python-format diff --git a/selfdrive/ui/translations/app_zh-CHT.po b/selfdrive/ui/translations/app_zh-CHT.po index 85cfb77401..f4d5e0a4ed 100644 --- a/selfdrive/ui/translations/app_zh-CHT.po +++ b/selfdrive/ui/translations/app_zh-CHT.po @@ -200,7 +200,7 @@ msgstr "CONNECT" #: system/ui/widgets/network.py:369 #, python-format msgid "CONNECTING..." -msgstr "CONNECTING..." +msgstr "連線中..." #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318 @@ -1000,7 +1000,7 @@ msgstr "適用於「{}」" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format msgid "km/h" -msgstr "公里/時" +msgstr "km/h" #: system/ui/widgets/network.py:204 #, python-format @@ -1020,7 +1020,7 @@ msgstr "計量" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format msgid "mph" -msgstr "英里/時" +msgstr "mph" #: selfdrive/ui/layouts/settings/software.py:20 #, python-format From de975d5af9413a36fcb8c3b28be03b85a4296278 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 20 Dec 2025 15:04:13 -0800 Subject: [PATCH 017/144] card: remove MockCarstate (#36941) --- selfdrive/car/car_specific.py | 16 ---------------- selfdrive/car/card.py | 4 ---- 2 files changed, 20 deletions(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 6210983d97..307132e780 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,5 +1,4 @@ from cereal import car, log -import cereal.messaging as messaging from opendbc.car import DT_CTRL, structs from opendbc.car.interfaces import MAX_CTRL_SPEED @@ -11,21 +10,6 @@ EventName = log.OnroadEvent.EventName NetworkLocation = structs.CarParams.NetworkLocation -# TODO: the goal is to abstract this file into the CarState struct and make events generic -class MockCarState: - def __init__(self): - self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) - - def update(self, CS: car.CarState): - self.sm.update(0) - gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' - - CS.vEgo = self.sm[gps_sock].speed - CS.vEgoRaw = self.sm[gps_sock].speed - - return CS - - BRAND_EXTRA_GEARS = { 'ford': [GearShifter.low, GearShifter.manumatic], 'nissan': [GearShifter.brake], diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 27b04ae65e..aa0d12e960 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -19,7 +19,6 @@ from opendbc.car.car_helpers import get_car, interfaces from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp from openpilot.selfdrive.car.cruise import VCruiseHelper -from openpilot.selfdrive.car.car_specific import MockCarState REPLAY = "REPLAY" in os.environ @@ -150,7 +149,6 @@ class Car: self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.mock_carstate = MockCarState() self.v_cruise_helper = VCruiseHelper(self.CP) self.is_metric = self.params.get_bool("IsMetric") @@ -167,8 +165,6 @@ class Car: # Update carState from CAN CS = self.CI.update(can_list) - if self.CP.brand == 'mock': - CS = self.mock_carstate.update(CS) # Update radar tracks from CAN RD: structs.RadarDataT | None = self.RI.update(can_list) From 67742699ccd76fe864e46758c3aa1a67334fc464 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 20 Dec 2025 15:22:30 -0800 Subject: [PATCH 018/144] card: move drivable gears to opendbc (#36942) * card: move drivable gears to opendbc * it's not none * bump opendbc * mypy --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 20 ++++---------------- 2 files changed, 5 insertions(+), 17 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 39773a987e..4aa7ca9722 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 39773a987eaefd680c6befa390d7898945daf2e7 +Subproject commit 4aa7ca972290af6c6bbd314d1975eab46a888b6f diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 307132e780..90e4a6986a 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,5 +1,6 @@ from cereal import car, log from opendbc.car import DT_CTRL, structs +from opendbc.car.car_helpers import interfaces from opendbc.car.interfaces import MAX_CTRL_SPEED from openpilot.selfdrive.selfdrived.events import Events @@ -10,18 +11,6 @@ EventName = log.OnroadEvent.EventName NetworkLocation = structs.CarParams.NetworkLocation -BRAND_EXTRA_GEARS = { - 'ford': [GearShifter.low, GearShifter.manumatic], - 'nissan': [GearShifter.brake], - 'chrysler': [GearShifter.low], - 'honda': [GearShifter.sport], - 'toyota': [GearShifter.sport], - 'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], - 'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic], - 'hyundai': [GearShifter.sport, GearShifter.manumatic] -} - - class CarSpecificEvents: def __init__(self, CP: structs.CarParams): self.CP = CP @@ -32,7 +21,7 @@ class CarSpecificEvents: self.silent_steer_warning = True def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl): - extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None) + extra_gears = interfaces[self.CP.carFingerprint].DRIVABLE_GEARS if self.CP.brand in ('body', 'mock'): events = Events() @@ -118,7 +107,7 @@ class CarSpecificEvents: return events - def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True, + def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: tuple = (), pcm_enable=True, allow_button_cancel=True): events = Events() @@ -126,8 +115,7 @@ class CarSpecificEvents: events.add(EventName.doorOpen) if CS.seatbeltUnlatched: events.add(EventName.seatbeltNotLatched) - if CS.gearShifter != GearShifter.drive and (extra_gears is None or - CS.gearShifter not in extra_gears): + if CS.gearShifter != GearShifter.drive and CS.gearShifter not in extra_gears: events.add(EventName.wrongGear) if CS.gearShifter == GearShifter.reverse: events.add(EventName.reverseGear) From e9a37d99c3d715e1b44d85da5c48c49136a5eb90 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 21 Dec 2025 08:33:52 +0800 Subject: [PATCH 019/144] Fix incorrect msgq path in prefix.h (#36943) --- common/prefix.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/prefix.h b/common/prefix.h index 2612c05d4f..7d0265c259 100644 --- a/common/prefix.h +++ b/common/prefix.h @@ -13,7 +13,7 @@ public: if (prefix.empty()) { prefix = util::random_string(15); } - msgq_path = Path::shm_path() + "/" + prefix; + msgq_path = Path::shm_path() + "/msgq_" + prefix; bool ret = util::create_directories(msgq_path, 0777); assert(ret); setenv("OPENPILOT_PREFIX", prefix.c_str(), 1); From 8728c7dde38be4a10f3044312e12195ebe4d57f4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Dec 2025 15:42:53 -0800 Subject: [PATCH 020/144] killing car_specific.py, part 3 (#36946) * mv that * lil more * todo * cleanup --- selfdrive/car/car_specific.py | 34 ++++++++++++---------------------- 1 file changed, 12 insertions(+), 22 deletions(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 90e4a6986a..cdeeebdcd5 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -21,14 +21,12 @@ class CarSpecificEvents: self.silent_steer_warning = True def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl): - extra_gears = interfaces[self.CP.carFingerprint].DRIVABLE_GEARS - if self.CP.brand in ('body', 'mock'): - events = Events() + return Events() - elif self.CP.brand == 'chrysler': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) + events = self.create_common_events(CS, CS_prev) + if self.CP.brand == 'chrysler': # Low speed steer alert hysteresis logic if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5): self.low_speed_alert = True @@ -38,8 +36,6 @@ class CarSpecificEvents: events.add(EventName.belowSteerSpeed) elif self.CP.brand == 'honda': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False) - if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) @@ -60,8 +56,6 @@ class CarSpecificEvents: elif self.CP.brand == 'toyota': # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3 - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) - if self.CP.openpilotLongitudinalControl: # Only can leave standstill when planner wants to move if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume: @@ -76,8 +70,6 @@ class CarSpecificEvents: events.add(EventName.manualRestart) elif self.CP.brand == 'gm': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise) - # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and @@ -87,8 +79,6 @@ class CarSpecificEvents: events.add(EventName.resumeRequired) elif self.CP.brand == 'volkswagen': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise) - if self.CP.openpilotLongitudinalControl: if CS.vEgo < self.CP.minEnableSpeed + 0.5: events.add(EventName.belowEngageSpeed) @@ -99,23 +89,23 @@ class CarSpecificEvents: # if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined] # events.add(EventName.steerTimeLimit) - elif self.CP.brand == 'hyundai': - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False) - - else: - events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) - return events - def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: tuple = (), pcm_enable=True, - allow_button_cancel=True): + def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState): events = Events() + CI = interfaces[self.CP.carFingerprint] + # TODO: cleanup the honda-specific logic + pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda' + # TODO: on some hyundai cars, the cancel button is also the pause/resume button, + # so only use it for cancel when running openpilot longitudinal + allow_button_cancel = self.CP.brand != 'hyundai' + if CS.doorOpen: events.add(EventName.doorOpen) if CS.seatbeltUnlatched: events.add(EventName.seatbeltNotLatched) - if CS.gearShifter != GearShifter.drive and CS.gearShifter not in extra_gears: + if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS: events.add(EventName.wrongGear) if CS.gearShifter == GearShifter.reverse: events.add(EventName.reverseGear) From 31ec0096e46ad2ac310d40a5f99ecf22243511ad Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Dec 2025 16:21:35 -0800 Subject: [PATCH 021/144] ui: fix raylib init spam (#36947) * lil more * not none * don't need that either * too spammy now? --- Jenkinsfile | 2 +- system/ui/lib/application.py | 9 +++++---- system/ui/lib/multilang.py | 2 +- 3 files changed, 7 insertions(+), 6 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 73fa74c1cd..c095eda8a9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits export CI=1 export PYTHONWARNINGS=error -export LOGPRINT=debug +#export LOGPRINT=debug # this has gotten too spammy... export TEST_DIR=${env.TEST_DIR} export SOURCE_DIR=${env.SOURCE_DIR} export GIT_BRANCH=${env.GIT_BRANCH} diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 501a7ff371..04cd37af3e 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -192,6 +192,8 @@ class MouseState: class GuiApplication: def __init__(self, width: int | None = None, height: int | None = None): + self._set_log_callback() + self._fonts: dict[FontWeight, rl.Font] = {} self._width = width if width is not None else GuiApplication._default_width() self._height = height if height is not None else GuiApplication._default_height() @@ -215,7 +217,6 @@ class GuiApplication: self._last_fps_log_time: float = time.monotonic() self._frame = 0 self._window_close_requested = False - self._trace_log_callback = None self._modal_overlay = ModalOverlay() self._modal_overlay_shown = False self._modal_overlay_tick: Callable[[], None] | None = None @@ -260,9 +261,6 @@ class GuiApplication: signal.signal(signal.SIGINT, _close) atexit.register(self.close) - self._set_log_callback() - rl.set_trace_log_level(rl.TraceLogLevel.LOG_WARNING) - flags = rl.ConfigFlags.FLAG_MSAA_4X_HINT if ENABLE_VSYNC: flags |= rl.ConfigFlags.FLAG_VSYNC_HINT @@ -640,6 +638,9 @@ class GuiApplication: else: cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}") + # ensure we get all the logs forwarded to us + rl.set_trace_log_level(rl.TraceLogLevel.LOG_DEBUG) + # Store callback reference self._trace_log_callback = trace_log_callback rl.set_trace_log_callback(self._trace_log_callback) diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py index 9b10a8bdc7..70de1e3d5c 100644 --- a/system/ui/lib/multilang.py +++ b/system/ui/lib/multilang.py @@ -48,7 +48,7 @@ class Multilang: translation = gettext.GNUTranslations(fh) translation.install() self._translation = translation - cloudlog.warning(f"Loaded translations for language: {self._language}") + cloudlog.debug(f"Loaded translations for language: {self._language}") except FileNotFoundError: cloudlog.error(f"No translation file found for language: {self._language}, using default.") gettext.install('app') From 29a2f576f5929b2efe6761e3996a926e3b9e62d5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Dec 2025 16:49:15 -0800 Subject: [PATCH 022/144] unpin raylib-python-cffi (#36948) --- pyproject.toml | 4 ++-- uv.lock | 38 ++++++++++++++++++++++---------------- 2 files changed, 24 insertions(+), 18 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index d5dc95e1b1..fc80488c69 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -49,7 +49,7 @@ dependencies = [ # logging "pyzmq", "sentry-sdk", - "xattr", # used in place of 'os.getxattr' for macos compatibility + "xattr", # used in place of 'os.getxattr' for macOS compatibility # athena "PyJWT", @@ -72,7 +72,7 @@ dependencies = [ "zstandard", # ui - "raylib < 5.5.0.3", # TODO: unpin when they fix https://github.com/electronstudio/raylib-python-cffi/issues/186 + "raylib > 5.5.0.3", "qrcode", "mapbox-earcut", ] diff --git a/uv.lock b/uv.lock index b179517e0b..53cb108c61 100644 --- a/uv.lock +++ b/uv.lock @@ -1463,7 +1463,7 @@ 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system/hardware/base.py | 66 ++++++----------- system/hardware/fan_controller.py | 29 ++------ system/hardware/hardwared.py | 13 +--- system/hardware/pc/hardware.h | 1 - system/hardware/pc/hardware.py | 70 +----------------- system/hardware/tests/test_fan_controller.py | 6 +- system/hardware/tici/amplifier.py | 78 +++++++------------- system/hardware/tici/hardware.py | 6 +- system/hardware/tici/tests/test_amplifier.py | 5 +- 10 files changed, 71 insertions(+), 204 deletions(-) delete mode 100644 system/hardware/.gitignore diff --git a/system/hardware/.gitignore b/system/hardware/.gitignore deleted file mode 100644 index 980f09abfa..0000000000 --- a/system/hardware/.gitignore +++ /dev/null @@ -1 +0,0 @@ -eon/rat diff --git a/system/hardware/base.py b/system/hardware/base.py index 17d0ec1614..05e8eb015f 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -5,6 +5,7 @@ from dataclasses import dataclass, fields from cereal import log NetworkType = log.DeviceState.NetworkType +NetworkStrength = log.DeviceState.NetworkStrength class LPAError(RuntimeError): pass @@ -114,68 +115,57 @@ class HardwareBase(ABC): def booted(self) -> bool: return True - @abstractmethod def reboot(self, reason=None): - pass + print("REBOOT!") - @abstractmethod def uninstall(self): - pass + print("uninstall") - @abstractmethod def get_os_version(self): - pass + return None @abstractmethod def get_device_type(self): pass - @abstractmethod def get_imei(self, slot) -> str: - pass + return "" - @abstractmethod def get_serial(self): - pass + return "" - @abstractmethod def get_network_info(self): - pass + return None - @abstractmethod def get_network_type(self): - pass + return NetworkType.none - @abstractmethod def get_sim_info(self): - pass + return { + 'sim_id': '', + 'mcc_mnc': None, + 'network_type': ["Unknown"], + 'sim_state': ["ABSENT"], + 'data_connected': False + } - @abstractmethod def get_sim_lpa(self) -> LPABase: - pass + raise NotImplementedError("SIM LPA not available") - @abstractmethod def get_network_strength(self, network_type): - pass + return NetworkStrength.unknown def get_network_metered(self, network_type) -> bool: return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet) - @staticmethod - def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None: - pass - - @abstractmethod def get_current_power_draw(self): - pass + return 0 - @abstractmethod def get_som_power_draw(self): - pass + return 0 - @abstractmethod def shutdown(self): - pass + print("SHUTDOWN!") def get_thermal_config(self): return ThermalConfig() @@ -183,31 +173,24 @@ class HardwareBase(ABC): def set_display_power(self, on: bool): pass - @abstractmethod def set_screen_brightness(self, percentage): pass - @abstractmethod def get_screen_brightness(self): - pass + return 0 - @abstractmethod def set_power_save(self, powersave_enabled): pass - @abstractmethod def get_gpu_usage_percent(self): - pass + return 0 def get_modem_version(self): return None - @abstractmethod def get_modem_temperatures(self): - pass + return [] - - @abstractmethod def initialize_hardware(self): pass @@ -217,9 +200,8 @@ class HardwareBase(ABC): def reboot_modem(self): pass - @abstractmethod def get_networks(self): - pass + return None def has_internal_panda(self) -> bool: return False diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py index 365688429a..b2140d33d4 100755 --- a/system/hardware/fan_controller.py +++ b/system/hardware/fan_controller.py @@ -1,24 +1,13 @@ #!/usr/bin/env python3 import numpy as np -from abc import ABC, abstractmethod -from openpilot.common.realtime import DT_HW -from openpilot.common.swaglog import cloudlog from openpilot.common.pid import PIDController -class BaseFanController(ABC): - @abstractmethod - def update(self, cur_temp: float, ignition: bool) -> int: - pass - - -class TiciFanController(BaseFanController): - def __init__(self) -> None: - super().__init__() - cloudlog.info("Setting up TICI fan handler") +class FanController: + def __init__(self, rate: int) -> None: self.last_ignition = False - self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW)) + self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate) def update(self, cur_temp: float, ignition: bool) -> int: self.controller.pos_limit = 100 if ignition else 30 @@ -26,13 +15,9 @@ class TiciFanController(BaseFanController): if ignition != self.last_ignition: self.controller.reset() - - error = cur_temp - 75 - fan_pwr_out = int(self.controller.update( - error=error, - feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100]) - )) - self.last_ignition = ignition - return fan_pwr_out + return int(self.controller.update( + error=(cur_temp - 75), # temperature setpoint in C + feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100]) + )) diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 8ddc4da2f2..aad30f77b2 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -22,7 +22,7 @@ from openpilot.system.loggerd.config import get_available_percent from openpilot.system.statsd import statlog from openpilot.common.swaglog import cloudlog from openpilot.system.hardware.power_monitoring import PowerMonitoring -from openpilot.system.hardware.fan_controller import TiciFanController +from openpilot.system.hardware.fan_controller import FanController from openpilot.system.version import terms_version, training_version from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID @@ -210,14 +210,13 @@ def hardware_thread(end_event, hw_queue) -> None: HARDWARE.initialize_hardware() thermal_config = HARDWARE.get_thermal_config() - fan_controller = None + fan_controller = FanController(int(1./DT_HW)) while not end_event.is_set(): sm.update(PANDA_STATES_TIMEOUT) pandaStates = sm['pandaStates'] peripheralState = sm['peripheralState'] - peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown # handle requests to cycle system started state if params.get_bool("OnroadCycleRequested"): @@ -234,11 +233,6 @@ def hardware_thread(end_event, hw_queue) -> None: in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected - # Setup fan handler on first connect to panda - if fan_controller is None and peripheral_panda_present: - if TICI: - fan_controller = TiciFanController() - elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT: if onroad_conditions["ignition"]: onroad_conditions["ignition"] = False @@ -289,8 +283,7 @@ def hardware_thread(end_event, hw_queue) -> None: all_comp_temp = all_temp_filter.update(max(temp_sources)) msg.deviceState.maxTempC = all_comp_temp - if fan_controller is not None: - msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) + msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5)) if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 978dd771c8..71f58b188b 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -6,7 +6,6 @@ class HardwarePC : public HardwareNone { public: - static std::string get_os_version() { return "openpilot for PC"; } static std::string get_name() { return "pc"; } static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; } static bool PC() { return true; } diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 6c11896390..f3d527429c 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,78 +1,12 @@ -import random - from cereal import log -from openpilot.system.hardware.base import HardwareBase, LPABase +from openpilot.system.hardware.base import HardwareBase NetworkType = log.DeviceState.NetworkType -NetworkStrength = log.DeviceState.NetworkStrength + class Pc(HardwareBase): - def get_os_version(self): - return None - def get_device_type(self): return "pc" - def reboot(self, reason=None): - print("REBOOT!") - - def uninstall(self): - print("uninstall") - - def get_imei(self, slot): - return f"{random.randint(0, 1 << 32):015d}" - - def get_serial(self): - return "cccccccc" - - def get_network_info(self): - return None - def get_network_type(self): return NetworkType.wifi - - def get_sim_info(self): - return { - 'sim_id': '', - 'mcc_mnc': None, - 'network_type': ["Unknown"], - 'sim_state': ["ABSENT"], - 'data_connected': False - } - - def get_sim_lpa(self) -> LPABase: - raise NotImplementedError("SIM LPA not implemented for PC") - - def get_network_strength(self, network_type): - return NetworkStrength.unknown - - def get_current_power_draw(self): - return 0 - - def get_som_power_draw(self): - return 0 - - def shutdown(self): - print("SHUTDOWN!") - - def set_screen_brightness(self, percentage): - pass - - def get_screen_brightness(self): - return 0 - - def set_power_save(self, powersave_enabled): - pass - - def get_gpu_usage_percent(self): - return 0 - - def get_modem_temperatures(self): - return [] - - - def initialize_hardware(self): - pass - - def get_networks(self): - return None diff --git a/system/hardware/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py index 002c1edfda..ee39a24f87 100644 --- a/system/hardware/tests/test_fan_controller.py +++ b/system/hardware/tests/test_fan_controller.py @@ -1,12 +1,12 @@ import pytest -from openpilot.system.hardware.fan_controller import TiciFanController +from openpilot.system.hardware.fan_controller import FanController -ALL_CONTROLLERS = [TiciFanController] +ALL_CONTROLLERS = [FanController] def patched_controller(mocker, controller_class): mocker.patch("os.system", new=mocker.Mock()) - return controller_class() + return controller_class(2) class TestFanController: def wind_up(self, controller, ignition=True): diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index bfdcc6ddaf..d714837bb3 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -6,23 +6,8 @@ from collections import namedtuple # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask']) -EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2']) -def configs_from_eq_params(base, eq_params): - return [ - AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF), - AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF), - AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF), - AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF), - AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF), - AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF), - AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF), - AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF), - AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF), - AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF), - ] - -BASE_CONFIG = [ +CONFIG = [ AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), @@ -58,35 +43,31 @@ BASE_CONFIG = [ AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000), AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000), AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000), + + AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), + AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), + + AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), + AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), + AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), + AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), + AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000), + AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111), + AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000), + AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001), + AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000), + AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000), + AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000), + AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000), + AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), + AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), + AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), ] -CONFIGS = { - "tizi": [ - AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), - AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), - AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), - - AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), - AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), - AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), - AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), - AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000), - AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111), - AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000), - AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001), - AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000), - AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000), - AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000), - AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000), - AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), - AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), - AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), - ], -} - class Amplifier: AMP_I2C_BUS = 0 AMP_ADDRESS = 0x10 @@ -127,20 +108,15 @@ class Amplifier: def set_global_shutdown(self, amp_disabled: bool) -> bool: return self.set_configs([self._get_shutdown_config(amp_disabled), ]) - def initialize_configuration(self, model: str) -> bool: + def initialize_configuration(self) -> bool: cfgs = [ self._get_shutdown_config(True), - *BASE_CONFIG, - *CONFIGS[model], + *CONFIG, self._get_shutdown_config(False), ] return self.set_configs(cfgs) if __name__ == "__main__": - with open("/sys/firmware/devicetree/base/model") as f: - model = f.read().strip('\x00') - model = model.split('comma ')[-1] - amp = Amplifier() - amp.initialize_configuration(model) + amp.initialize_configuration() diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 9791f15f34..3cdb336086 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -125,7 +125,7 @@ class Tici(HardwareBase): return int(f.read()) def set_ir_power(self, percent: int): - if self.get_device_type() in ("tici", "tizi"): + if self.get_device_type() == "tizi": return value = int((percent / 100) * 300) @@ -369,7 +369,7 @@ class Tici(HardwareBase): if self.amplifier is not None: self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled) if not powersave_enabled: - self.amplifier.initialize_configuration(self.get_device_type()) + self.amplifier.initialize_configuration() # *** CPU config *** @@ -404,7 +404,7 @@ class Tici(HardwareBase): def initialize_hardware(self): if self.amplifier is not None: - self.amplifier.initialize_configuration(self.get_device_type()) + self.amplifier.initialize_configuration() # Allow hardwared to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py index 3f75436db1..9ce00c3ff2 100644 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -5,7 +5,6 @@ import subprocess from panda import Panda from openpilot.system.hardware import TICI, HARDWARE -from openpilot.system.hardware.tici.hardware import Tici from openpilot.system.hardware.tici.amplifier import Amplifier @@ -39,7 +38,7 @@ class TestAmplifier: def test_init(self): amp = Amplifier(debug=True) - r = amp.initialize_configuration(Tici().get_device_type()) + r = amp.initialize_configuration() assert r assert self._check_for_i2c_errors(False) @@ -61,7 +60,7 @@ class TestAmplifier: time.sleep(random.randint(0, 5)) amp = Amplifier(debug=True) - r = amp.initialize_configuration(Tici().get_device_type()) + r = amp.initialize_configuration() assert r if self._check_for_i2c_errors(True): From a8cfa2e2feaf63fde0f34d6e036c0ad5498d02eb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Dec 2025 17:22:57 -0800 Subject: [PATCH 024/144] bump msgq (#36950) --- msgq_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msgq_repo b/msgq_repo index 6abe47bc98..f3f440102e 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 6abe47bc98b83338b6ea04a87a6b2b5c65d09630 +Subproject commit f3f440102ef0a22e0ab1c7400b8c8a98eb6275c5 From 3f1f7ad89c785070ffac84a3e19cd6d07f16859a Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 24 Dec 2025 09:04:34 -0800 Subject: [PATCH 025/144] feat(esim): remove bootstrap (#36954) feat: remove bootstrap --- system/hardware/base.py | 4 ---- system/hardware/esim.py | 27 +-------------------------- system/hardware/tici/esim.py | 29 ----------------------------- 3 files changed, 1 insertion(+), 59 deletions(-) diff --git a/system/hardware/base.py b/system/hardware/base.py index 05e8eb015f..c12c0758f5 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -66,10 +66,6 @@ class ThermalConfig: return ret class LPABase(ABC): - @abstractmethod - def bootstrap(self) -> None: - pass - @abstractmethod def list_profiles(self) -> list[Profile]: pass diff --git a/system/hardware/esim.py b/system/hardware/esim.py index 909ad41e03..58ead6593f 100755 --- a/system/hardware/esim.py +++ b/system/hardware/esim.py @@ -3,32 +3,10 @@ import argparse import time from openpilot.system.hardware import HARDWARE -from openpilot.system.hardware.base import LPABase - - -def bootstrap(lpa: LPABase) -> None: - print('┌──────────────────────────────────────────────────────────────────────────────┐') - print('│ WARNING, PLEASE READ BEFORE PROCEEDING │') - print('│ │') - print('│ this is an irreversible operation that will remove the comma-provisioned │') - print('│ profile. │') - print('│ │') - print('│ after this operation, you must purchase a new eSIM from comma in order to │') - print('│ use the comma prime subscription again. │') - print('└──────────────────────────────────────────────────────────────────────────────┘') - print() - for severity in ('sure', '100% sure'): - print(f'are you {severity} you want to proceed? (y/N) ', end='') - confirm = input() - if confirm != 'y': - print('aborting') - exit(0) - lpa.bootstrap() if __name__ == '__main__': parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai') - parser.add_argument('--bootstrap', action='store_true', help='bootstrap the eUICC (required before downloading profiles)') parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi') parser.add_argument('--switch', metavar='iccid', help='switch to profile') parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)') @@ -38,10 +16,7 @@ if __name__ == '__main__': mutated = False lpa = HARDWARE.get_sim_lpa() - if args.bootstrap: - bootstrap(lpa) - mutated = True - elif args.switch: + if args.switch: lpa.switch_profile(args.switch) mutated = True elif args.delete: diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py index 391ba45531..b489286f50 100644 --- a/system/hardware/tici/esim.py +++ b/system/hardware/tici/esim.py @@ -40,7 +40,6 @@ class TiciLPA(LPABase): self._process_notifications() def download_profile(self, qr: str, nickname: str | None = None) -> None: - self._check_bootstrapped() msgs = self._invoke('profile', 'download', '-a', qr) self._validate_successful(msgs) new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None) @@ -55,7 +54,6 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname)) def switch_profile(self, iccid: str) -> None: - self._check_bootstrapped() self._validate_profile_exists(iccid) latest = self.get_active_profile() if latest and latest.iccid == iccid: @@ -63,33 +61,6 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'enable', iccid)) self._process_notifications() - def bootstrap(self) -> None: - """ - find all comma-provisioned profiles and delete them. they conflict with user-provisioned profiles - and must be deleted. - - **note**: this is a **very** destructive operation. you **must** purchase a new comma SIM in order - to use comma prime again. - """ - if self._is_bootstrapped(): - return - - for p in self.list_profiles(): - if self.is_comma_profile(p.iccid): - self._disable_profile(p.iccid) - self.delete_profile(p.iccid) - - def _disable_profile(self, iccid: str) -> None: - self._validate_successful(self._invoke('profile', 'disable', iccid)) - self._process_notifications() - - def _check_bootstrapped(self) -> None: - assert self._is_bootstrapped(), 'eUICC is not bootstrapped, please bootstrap before performing this operation' - - def _is_bootstrapped(self) -> bool: - """ check if any comma provisioned profiles are on the eUICC """ - return not any(self.is_comma_profile(iccid) for iccid in (p.iccid for p in self.list_profiles())) - def _invoke(self, *cmd: str): proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env) try: From 368947c88cb7556089312008c1322f7c12e4e04e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 27 Dec 2025 16:49:30 -0800 Subject: [PATCH 026/144] msgq on macOS (#36958) * msgq on macOS * clean that up --- common/prefix.h | 6 +++++- common/prefix.py | 4 +++- msgq_repo | 2 +- tools/install_python_dependencies.sh | 2 -- 4 files changed, 9 insertions(+), 5 deletions(-) diff --git a/common/prefix.h b/common/prefix.h index 7d0265c259..30ee18f637 100644 --- a/common/prefix.h +++ b/common/prefix.h @@ -13,7 +13,11 @@ public: if (prefix.empty()) { prefix = util::random_string(15); } - msgq_path = Path::shm_path() + "/msgq_" + prefix; +#ifdef __APPLE__ + msgq_path = "/tmp/msgq_" + prefix; +#else + msgq_path = "/dev/shm/msgq_" + prefix; +#endif bool ret = util::create_directories(msgq_path, 0777); assert(ret); setenv("OPENPILOT_PREFIX", prefix.c_str(), 1); diff --git a/common/prefix.py b/common/prefix.py index b19ce1472b..86f69671d8 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -1,4 +1,5 @@ import os +import platform import shutil import uuid @@ -11,7 +12,8 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) - self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix) + shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm" + self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix) self.create_dirs_on_enter = create_dirs_on_enter self.clean_dirs_on_exit = clean_dirs_on_exit self.shared_download_cache = shared_download_cache diff --git a/msgq_repo b/msgq_repo index f3f440102e..349bf449b7 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit f3f440102ef0a22e0ab1c7400b8c8a98eb6275c5 +Subproject commit 349bf449b7329527162598de357bfecf232abc3f diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index c2db249cf2..4454845fcd 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -25,7 +25,5 @@ source .venv/bin/activate if [[ "$(uname)" == 'Darwin' ]]; then touch "$ROOT"/.env - echo "# msgq doesn't work on mac" >> "$ROOT"/.env - echo "export ZMQ=1" >> "$ROOT"/.env echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env fi From 85cdb2ed9abc5153aa0dd377c83a84126cf80334 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 27 Dec 2025 23:15:18 -0800 Subject: [PATCH 027/144] fix(url_file): ensure seek position is always an integer (#36960) --- tools/lib/url_file.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index c791444f74..c7ccab1ae3 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -164,7 +164,7 @@ class URLFile: return parts def seek(self, pos: int) -> None: - self._pos = pos + self._pos = int(pos) @property def name(self) -> str: From ea01a53711a01d4d88c1e4e8ae9cb7e93b7a070e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Dec 2025 10:42:49 -0800 Subject: [PATCH 028/144] switch from mypy to ty (#36961) --- common/git.py | 12 +-- common/prefix.py | 2 +- pyproject.toml | 78 ++++++++++--------- scripts/lint/lint.sh | 12 +-- selfdrive/debug/cycle_alerts.py | 6 +- selfdrive/debug/fingerprint_from_route.py | 11 +-- selfdrive/locationd/calibrationd.py | 2 +- selfdrive/locationd/helpers.py | 2 +- selfdrive/selfdrived/alertmanager.py | 2 +- selfdrive/test/fuzzy_generation.py | 2 +- selfdrive/test/process_replay/migration.py | 3 +- .../test/process_replay/process_replay.py | 6 +- selfdrive/test/process_replay/regen.py | 2 +- selfdrive/test/update_ci_routes.py | 2 +- selfdrive/ui/layouts/home.py | 2 +- selfdrive/ui/mici/widgets/button.py | 16 ++-- selfdrive/ui/mici/widgets/dialog.py | 4 +- selfdrive/ui/translations/auto_translate.py | 2 +- system/athena/athenad.py | 4 +- system/athena/tests/test_athenad.py | 2 +- system/loggerd/tests/loggerd_tests_common.py | 4 +- system/loggerd/tests/test_uploader.py | 2 +- system/loggerd/uploader.py | 2 +- system/manager/process.py | 2 +- system/ui/mici_updater.py | 17 ++-- system/ui/tici_updater.py | 17 ++-- system/ui/widgets/__init__.py | 6 +- system/ui/widgets/label.py | 4 +- system/ui/widgets/list_view.py | 11 +-- system/updated/casync/casync.py | 4 +- system/updated/updated.py | 2 +- system/webrtc/device/audio.py | 4 +- tools/jotpluggler/data.py | 2 +- tools/jotpluggler/views.py | 2 +- tools/lib/logreader.py | 5 +- tools/lib/vidindex.py | 2 +- uv.lock | 64 +++++++-------- 37 files changed, 160 insertions(+), 162 deletions(-) diff --git a/common/git.py b/common/git.py index 2296fa7088..6b662e5719 100644 --- a/common/git.py +++ b/common/git.py @@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default @cache -def get_commit(cwd: str = None, branch: str = "HEAD") -> str: +def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str: return run_cmd_default(["git", "rev-parse", branch], cwd=cwd) @cache -def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str: +def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str: return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd) @cache -def get_short_branch(cwd: str = None) -> str: +def get_short_branch(cwd: str | None = None) -> str: return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd) @cache -def get_branch(cwd: str = None) -> str: +def get_branch(cwd: str | None = None) -> str: return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd) @cache -def get_origin(cwd: str = None) -> str: +def get_origin(cwd: str | None = None) -> str: try: local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd) tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd) @@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str: @cache -def get_normalized_origin(cwd: str = None) -> str: +def get_normalized_origin(cwd: str | None = None) -> str: return get_origin(cwd) \ .replace("git@", "", 1) \ .replace(".git", "", 1) \ diff --git a/common/prefix.py b/common/prefix.py index 86f69671d8..d0a5f92628 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -10,7 +10,7 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): + def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm" self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix) diff --git a/pyproject.toml b/pyproject.toml index fc80488c69..bb4ac0e8d8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -87,7 +87,7 @@ docs = [ testing = [ "coverage", "hypothesis ==6.47.*", - "mypy", + "ty", "pytest", "pytest-cpp", "pytest-subtests", @@ -180,42 +180,6 @@ ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,w 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/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html" -[tool.mypy] -python_version = "3.11" -exclude = [ - "cereal/", - "msgq/", - "msgq_repo/", - "opendbc/", - "opendbc_repo/", - "panda/", - "rednose/", - "rednose_repo/", - "tinygrad/", - "tinygrad_repo/", - "teleoprtc/", - "teleoprtc_repo/", - "third_party/", -] - -# third-party packages -ignore_missing_imports=true - -# helpful warnings -warn_redundant_casts=true -warn_unreachable=true -warn_unused_ignores=true - -# restrict dynamic typing -warn_return_any=true - -# allow implicit optionals for default args -implicit_optional = true - -local_partial_types=true -explicit_package_bases=true -disable_error_code = "annotation-unchecked" - # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] indent-width = 2 @@ -274,3 +238,43 @@ lint.flake8-implicit-str-concat.allow-multiline = false [tool.ruff.format] quote-style = "preserve" + +[tool.ty.src] +exclude = [ + "cereal/", + "msgq/", + "msgq_repo/", + "opendbc/", + "opendbc_repo/", + "panda/", + "rednose/", + "rednose_repo/", + "tinygrad/", + "tinygrad_repo/", + "teleoprtc/", + "teleoprtc_repo/", + "third_party/", +] + +[tool.ty.rules] +# Ignore unresolved imports for Cython-compiled modules (.pyx) +unresolved-import = "ignore" +# Ignore unresolved attributes - many from capnp and Cython modules +unresolved-attribute = "ignore" +# Ignore invalid method overrides - signature variance issues +invalid-method-override = "ignore" +# Ignore possibly-missing-attribute - too many false positives +possibly-missing-attribute = "ignore" +# Ignore invalid assignment - often intentional monkey-patching +invalid-assignment = "ignore" +# Ignore no-matching-overload - numpy/ctypes overload matching issues +no-matching-overload = "ignore" +# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy +invalid-argument-type = "ignore" +# Ignore call-non-callable - false positives from dynamic types +call-non-callable = "ignore" +# Ignore unsupported-operator - false positives from dynamic types +unsupported-operator = "ignore" +# Ignore non-subscriptable - false positives from dynamic types +non-subscriptable = "ignore" +# not-iterable errors are now fixed diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh index 578c63cd18..5581171e8f 100755 --- a/scripts/lint/lint.sh +++ b/scripts/lint/lint.sh @@ -55,7 +55,7 @@ function run_tests() { run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES if [[ -z "$FAST" ]]; then - run "mypy" mypy $PYTHON_FILES + run "ty" ty check run "codespell" codespell $ALL_FILES fi @@ -69,7 +69,7 @@ function help() { echo "" echo -e "${BOLD}${UNDERLINE}Tests:${NC}" echo -e " ${BOLD}ruff${NC}" - echo -e " ${BOLD}mypy${NC}" + echo -e " ${BOLD}ty${NC}" echo -e " ${BOLD}codespell${NC}" echo -e " ${BOLD}check_added_large_files${NC}" echo -e " ${BOLD}check_shebang_scripts_are_executable${NC}" @@ -81,11 +81,11 @@ function help() { echo " Specify tests to skip separated by spaces" echo "" echo -e "${BOLD}${UNDERLINE}Examples:${NC}" - echo " op lint mypy ruff" - echo " Only run the mypy and ruff tests" + echo " op lint ty ruff" + echo " Only run the ty and ruff tests" echo "" - echo " op lint --skip mypy ruff" - echo " Skip the mypy and ruff tests" + echo " op lint --skip ty ruff" + echo " Skip the ty and ruff tests" echo "" echo " op lint" echo " Run all the tests" diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 11e75a7a8e..00fa33ac63 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -99,8 +99,7 @@ def cycle_alerts(duration=200, is_metric=False): alert = AM.process_alerts(frame, []) print(alert) for _ in range(duration): - dat = messaging.new_message() - dat.init('selfdriveState') + dat = messaging.new_message('selfdriveState') dat.selfdriveState.enabled = False if alert: @@ -112,8 +111,7 @@ def cycle_alerts(duration=200, is_metric=False): dat.selfdriveState.alertSound = alert.audible_alert pm.send('selfdriveState', dat) - dat = messaging.new_message() - dat.init('deviceState') + dat = messaging.new_message('deviceState') dat.deviceState.started = True pm.send('deviceState', dat) diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index 179ff4c838..5fd46f5b76 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -28,11 +28,12 @@ def get_fingerprint(lr): # TODO: also print the fw fingerprint merged with the existing ones # show FW fingerprint - print("\nFW fingerprint:\n") - for f in fw: - print(f" (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [") - print(f" {f.fwVersion},") - print(" ],") + if fw: + print("\nFW fingerprint:\n") + for f in fw: + print(f" (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [") + print(f" {f.fwVersion},") + print(" ],") print() print(f"VIN: {vin}") diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 03c044982e..3843cf37f3 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -92,7 +92,7 @@ class Calibrator: valid_blocks: int = 0, wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, height_init: np.ndarray = HEIGHT_INIT, - smooth_from: np.ndarray = None) -> None: + smooth_from: np.ndarray | None = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index 2a3ac8b861..73c4d8bf35 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -94,7 +94,7 @@ class PointBuckets: def add_point(self, x: float, y: float) -> None: raise NotImplementedError - def get_points(self, num_points: int = None) -> Any: + def get_points(self, num_points: int | None = None) -> Any: points = np.vstack([x.arr for x in self.buckets.values()]) if num_points is None: return points diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py index 251d32ba9a..385c276a94 100644 --- a/selfdrive/selfdrived/alertmanager.py +++ b/selfdrive/selfdrived/alertmanager.py @@ -13,7 +13,7 @@ with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as OFFROAD_ALERTS = json.load(f) -def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None: +def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None: if show_alert: a = copy.copy(OFFROAD_ALERTS[alert]) a['extra'] = extra_text or '' diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 94eb0dfaa6..131dab47b2 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -44,7 +44,7 @@ class FuzzyGenerator: except capnp.lib.capnp.KjException: return self.generate_struct(field.schema) - def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]: + def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]: single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else () fields_to_generate = schema.non_union_fields + single_fill return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')}) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 33b363cfd9..232722d1b1 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -1,5 +1,6 @@ from collections import defaultdict from collections.abc import Callable +from typing import cast import capnp import functools import traceback @@ -67,7 +68,7 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]): if migration.product in grouped: # skip if product already exists continue - sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i]) + sorted_indices = sorted(ii for i in cast(list[str], migration.inputs) for ii in grouped.get(i, [])) msg_gen = [(i, lr[i]) for i in sorted_indices] r_ops, a_ops, d_ops = migration(msg_gen) replace_ops.extend(r_ops) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 1144b7955e..8af72e5f4e 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -610,9 +610,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args, def replay_process( - cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None, - fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None, - captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False + cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None = None, + fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None, + captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False ) -> list[capnp._DynamicStructReader]: if isinstance(cfg, Iterable): cfgs = list(cfg) diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index ec35a5c3ac..c501a4b250 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -16,7 +16,7 @@ from openpilot.tools.lib.openpilotci import get_url def regen_segment( - lr: LogIterable, frs: dict[str, Any] = None, + lr: LogIterable, frs: dict[str, Any] | None = None, processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False ) -> list[capnp._DynamicStructReader]: all_msgs = sorted(lr, key=lambda m: m.logMonoTime) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 2bf06b4860..54e1c88718 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [ DEST = OpenpilotCIContainer -def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None: +def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None: if exclude_patterns is None: exclude_patterns = [r'dcamera\.hevc'] diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py index cd6ae600ef..a8404a20c3 100644 --- a/selfdrive/ui/layouts/home.py +++ b/selfdrive/ui/layouts/home.py @@ -39,7 +39,7 @@ class HomeLayout(Widget): self.current_state = HomeLayoutState.HOME self.last_refresh = 0 - self.settings_callback: callable | None = None + self.settings_callback: Callable[[], None] | None = None self.update_available = False self.alert_count = 0 diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index be08e0fee3..82310577b0 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -71,7 +71,7 @@ class BigCircleButton(Widget): class BigCircleToggle(BigCircleButton): - def __init__(self, icon: str, toggle_callback: Callable = None): + def __init__(self, icon: str, toggle_callback: Callable | None = None): super().__init__(icon, False) self._toggle_callback = toggle_callback @@ -251,7 +251,7 @@ class BigButton(Widget): class BigToggle(BigButton): - def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable = None): + def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None): super().__init__(text, value, "") self._checked = initial_state self._toggle_callback = toggle_callback @@ -288,8 +288,8 @@ class BigToggle(BigButton): class BigMultiToggle(BigToggle): - def __init__(self, text: str, options: list[str], toggle_callback: Callable = None, - select_callback: Callable = None): + def __init__(self, text: str, options: list[str], toggle_callback: Callable | None = None, + select_callback: Callable | None = None): super().__init__(text, "", toggle_callback=toggle_callback) assert len(options) > 0 self._options = options @@ -327,8 +327,8 @@ class BigMultiToggle(BigToggle): class BigMultiParamToggle(BigMultiToggle): - def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable = None, - select_callback: Callable = None): + def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None, + select_callback: Callable | None = None): super().__init__(text, options, toggle_callback, select_callback) self._param = param @@ -345,7 +345,7 @@ class BigMultiParamToggle(BigMultiToggle): class BigParamControl(BigToggle): - def __init__(self, text: str, param: str, toggle_callback: Callable = None): + def __init__(self, text: str, param: str, toggle_callback: Callable | None = None): super().__init__(text, "", toggle_callback=toggle_callback) self.param = param self.params = Params() @@ -361,7 +361,7 @@ class BigParamControl(BigToggle): # TODO: param control base class class BigCircleParamControl(BigCircleToggle): - def __init__(self, icon: str, param: str, toggle_callback: Callable = None): + def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None): super().__init__(icon, toggle_callback) self._param = param self.params = Params() diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 34760925a1..abd558aa8d 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -137,7 +137,7 @@ class BigInputDialog(BigDialogBase): hint: str, default_text: str = "", minimum_length: int = 1, - confirm_callback: Callable[[str], None] = None): + confirm_callback: Callable[[str], None] | None = None): super().__init__(None, None) self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)), font_weight=FontWeight.MEDIUM) @@ -317,7 +317,7 @@ class BigMultiOptionDialog(BigDialogBase): BACK_TOUCH_AREA_PERCENTAGE = 0.1 def __init__(self, options: list[str], default: str | None, - right_btn: str | None = 'check', right_btn_callback: Callable[[], None] = None): + right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None): super().__init__(right_btn, right_btn_callback=right_btn_callback) self._options = options if default is not None: diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py index 6251e03397..9354790f94 100755 --- a/selfdrive/ui/translations/auto_translate.py +++ b/selfdrive/ui/translations/auto_translate.py @@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly." -def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]: +def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]: files = {} with open(TRANSLATIONS_LANGUAGES) as fp: diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 3b71a9c31f..b52ef21ba6 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -314,7 +314,7 @@ def upload_handler(end_event: threading.Event) -> None: cloudlog.exception("athena.upload_handler.exception") -def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response: +def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response: path = upload_item.path compress = False @@ -805,7 +805,7 @@ def backoff(retries: int) -> int: return random.randrange(0, min(128, int(2 ** retries))) -def main(exit_event: threading.Event = None): +def main(exit_event: threading.Event | None = None): try: set_core_affinity([0, 1, 2, 3]) except Exception: diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py index 99ac3b1c6b..5b3e0b41f4 100644 --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -97,7 +97,7 @@ class TestAthenadMethods: break @staticmethod - def _create_file(file: str, parent: str = None, data: bytes = b'') -> str: + def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str: fn = os.path.join(Paths.log_root() if parent is None else parent, file) os.makedirs(os.path.dirname(fn), exist_ok=True) with open(fn, 'wb') as f: diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 87c3da65c2..8bf609ae8d 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -10,7 +10,7 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr -def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None: +def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None: file_path.parent.mkdir(parents=True, exist_ok=True) if lock: @@ -80,7 +80,7 @@ class UploaderTestCase: self.params.put("DongleId", "0000000000000000") def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, - upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path: + upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn create_random_file(file_path, size_mb, lock, upload_xattr) diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 961a8aa36f..562bc068eb 100644 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -50,7 +50,7 @@ class TestUploader(UploaderTestCase): self.end_event.set() self.up_thread.join() - def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]: + def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]: f_paths = [] for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]: f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr)) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 5b6234e1d5..8ac38b6df6 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -226,7 +226,7 @@ class Uploader: return self.upload(name, key, fn, network_type, metered) -def main(exit_event: threading.Event = None) -> None: +def main(exit_event: threading.Event | None = None) -> None: if exit_event is None: exit_event = threading.Event() diff --git a/system/manager/process.py b/system/manager/process.py index 1e24198267..36e1ba77b2 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -81,7 +81,7 @@ class ManagerProcess(ABC): self.stop(sig=signal.SIGKILL) self.start() - def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None: + def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None: if self.proc is None: return None diff --git a/system/ui/mici_updater.py b/system/ui/mici_updater.py index 2ae2f7cc19..7ebb4262ff 100755 --- a/system/ui/mici_updater.py +++ b/system/ui/mici_updater.py @@ -102,14 +102,15 @@ class Updater(Widget): self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, bufsize=1, universal_newlines=True) - for line in self.process.stdout: - parts = line.strip().split(":") - if len(parts) == 2: - self.progress_text = parts[0].lower() - try: - self.progress_value = int(float(parts[1])) - except ValueError: - pass + if self.process.stdout is not None: + for line in self.process.stdout: + parts = line.strip().split(":") + if len(parts) == 2: + self.progress_text = parts[0].lower() + try: + self.progress_value = int(float(parts[1])) + except ValueError: + pass exit_code = self.process.wait() if exit_code == 0: diff --git a/system/ui/tici_updater.py b/system/ui/tici_updater.py index 2e1a8687e1..ebf4b3bec3 100755 --- a/system/ui/tici_updater.py +++ b/system/ui/tici_updater.py @@ -71,14 +71,15 @@ class Updater(Widget): self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, bufsize=1, universal_newlines=True) - for line in self.process.stdout: - parts = line.strip().split(":") - if len(parts) == 2: - self.progress_text = parts[0] - try: - self.progress_value = int(float(parts[1])) - except ValueError: - pass + if self.process.stdout is not None: + for line in self.process.stdout: + parts = line.strip().split(":") + if len(parts) == 2: + self.progress_text = parts[0] + try: + self.progress_value = int(float(parts[1])) + except ValueError: + pass exit_code = self.process.wait() if exit_code == 0: diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 8a46a3e43d..4f3c977d2e 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -1,3 +1,5 @@ +from __future__ import annotations + import abc import pyray as rl from enum import IntEnum @@ -91,7 +93,7 @@ class Widget(abc.ABC): return self._rect return rl.get_collision_rec(self._rect, self._parent_rect) - def render(self, rect: rl.Rectangle = None) -> bool | int | None: + def render(self, rect: rl.Rectangle | None = None) -> bool | int | None: if rect is not None: self.set_rect(rect) @@ -359,7 +361,7 @@ class NavWidget(Widget, abc.ABC): self.set_position(self._rect.x, new_y) - def render(self, rect: rl.Rectangle = None) -> bool | int | None: + def render(self, rect: rl.Rectangle | None = None) -> bool | int | None: ret = super().render(rect) if self.back_enabled: diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index 97b293083d..cb0cf66b14 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -31,13 +31,13 @@ class MiciLabel(Widget): def __init__(self, text: str, font_size: int = DEFAULT_TEXT_SIZE, - width: int = None, + width: int | None = None, color: rl.Color = DEFAULT_TEXT_COLOR, font_weight: FontWeight = FontWeight.NORMAL, alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT, alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, spacing: int = 0, - line_height: int = None, + line_height: int | None = None, elide_right: bool = True, wrap_text: bool = False, scroll: bool = False): diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py index cfb8ab58a3..32bf01cfc8 100644 --- a/system/ui/widgets/list_view.py +++ b/system/ui/widgets/list_view.py @@ -174,8 +174,8 @@ class TextAction(ItemAction): class DualButtonAction(ItemAction): - def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None, - right_callback: Callable = None, enabled: bool | Callable[[], bool] = True): + def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None, + right_callback: Callable | None = None, enabled: bool | Callable[[], bool] = True): super().__init__(width=0, enabled=enabled) # Width 0 means use full width self.left_button = Button(left_text, click_callback=left_callback, button_style=ButtonStyle.NORMAL, text_padding=0) self.right_button = Button(right_text, click_callback=right_callback, button_style=ButtonStyle.DANGER, text_padding=0) @@ -207,7 +207,7 @@ class DualButtonAction(ItemAction): class MultipleButtonAction(ItemAction): - def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None): + def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None): super().__init__(width=len(buttons) * button_width + (len(buttons) - 1) * RIGHT_ITEM_PADDING, enabled=True) self.buttons = buttons self.button_width = button_width @@ -454,13 +454,14 @@ def text_item(title: str | Callable[[], str], value: str | Callable[[], str], de return ListItem(title=title, description=description, action_item=action, callback=callback) -def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable = None, right_callback: Callable = None, +def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str], + left_callback: Callable | None = None, right_callback: Callable | None = None, description: str | Callable[[], str] | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem: action = DualButtonAction(left_text, right_text, left_callback, right_callback, enabled) return ListItem(title="", description=description, action_item=action) def multiple_button_item(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]], selected_index: int, - button_width: int = BUTTON_WIDTH, callback: Callable = None, icon: str = ""): + button_width: int = BUTTON_WIDTH, callback: Callable | None = None, icon: str = ""): action = MultipleButtonAction(buttons, button_width, selected_index, callback=callback) return ListItem(title=title, description=description, icon=icon, action_item=action) diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py index 79ac26f1c6..2bd46a1ffb 100755 --- a/system/updated/casync/casync.py +++ b/system/updated/casync/casync.py @@ -168,7 +168,7 @@ def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict: def extract(target: list[Chunk], sources: list[tuple[str, ChunkReader, ChunkDict]], out_path: str, - progress: Callable[[int], None] = None): + progress: Callable[[int], None] | None = None): stats: dict[str, int] = defaultdict(int) mode = 'rb+' if os.path.exists(out_path) else 'wb' @@ -208,7 +208,7 @@ def extract_directory(target: list[Chunk], sources: list[tuple[str, ChunkReader, ChunkDict]], out_path: str, tmp_file: str, - progress: Callable[[int], None] = None): + progress: Callable[[int], None] | None = None): """extract a directory stored as a casync tar archive""" stats = extract(target, sources, tmp_file, progress) diff --git a/system/updated/updated.py b/system/updated/updated.py index a4a1f8f34f..ffd10e038d 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -68,7 +68,7 @@ def write_time_to_param(params, param) -> None: t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) params.put(param, t) -def run(cmd: list[str], cwd: str = None) -> str: +def run(cmd: list[str], cwd: str | None = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py index 4b22033e03..b1859518a1 100644 --- a/system/webrtc/device/audio.py +++ b/system/webrtc/device/audio.py @@ -16,7 +16,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): pyaudio.paFloat32: 'flt', } - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None): + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None): super().__init__() self.p = pyaudio.PyAudio() @@ -48,7 +48,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): class AudioOutputSpeaker: - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None): + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None): chunk_size = int(packet_time * rate) self.p = pyaudio.PyAudio() diff --git a/tools/jotpluggler/data.py b/tools/jotpluggler/data.py index cf27857d1f..756b87bd20 100644 --- a/tools/jotpluggler/data.py +++ b/tools/jotpluggler/data.py @@ -9,7 +9,7 @@ from openpilot.selfdrive.test.process_replay.migration import migrate_all from openpilot.tools.lib.logreader import _LogFileReader, LogReader -def flatten_dict(d: dict, sep: str = "/", prefix: str = None) -> dict: +def flatten_dict(d: dict, sep: str = "/", prefix: str | None = None) -> dict: result = {} stack: list[tuple] = [(d, prefix)] diff --git a/tools/jotpluggler/views.py b/tools/jotpluggler/views.py index 1c4d9a8f3c..cd723d161e 100644 --- a/tools/jotpluggler/views.py +++ b/tools/jotpluggler/views.py @@ -9,7 +9,7 @@ from abc import ABC, abstractmethod class ViewPanel(ABC): """Abstract base class for all view panels that can be displayed in a plot container""" - def __init__(self, panel_id: str = None): + def __init__(self, panel_id: str | None = None): self.panel_id = panel_id or str(uuid.uuid4()) self.title = "Untitled Panel" diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index f9a90490b9..9696c8524d 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -13,7 +13,6 @@ import warnings import zstandard as zstd from collections.abc import Iterable, Iterator -from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log @@ -180,7 +179,7 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) # We've found all files, return them if len(needed_seg_idxs) == 0: - return cast(list[str], list(valid_files.values())) + return list(valid_files.values()) else: raise FileNotFoundError(f"Did not find {fn} for seg idxs {needed_seg_idxs} of {sr.route_name}") @@ -245,7 +244,7 @@ class LogReader: return identifiers def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG, - sources: list[Source] = None, 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"https://files.pythonhosted.org/packages/7f/f4/c4fc28410c4493982b7481fb23f62bacb02fd2912ebec3b9bc7de18bebb8/ty-0.0.7-py3-none-win_arm64.whl", hash = "sha256:c87d27484dba9fca0053b6a9eee47eecc760aab2bbb8e6eab3d7f81531d1ad0c", size = 9653112, upload-time = "2025-12-24T21:28:31.562Z" }, +] + [[package]] name = "types-requests" version = "2.32.4.20250913" From ce1491df9c6bfcc45113de3a974973d6057933fc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Dec 2025 11:45:19 -0800 Subject: [PATCH 029/144] tools: add LRU eviction for log cache (#36959) * tools: add LRU for log cache * lil more * cleanup: * less syscall * manifest * cleanup * cleanup * lil more * cleanup * lil more * simpler * lil more --- tools/lib/tests/test_caching.py | 36 ++++++++++++++++++++++++++++- tools/lib/url_file.py | 41 ++++++++++++++++++++++++++++----- 2 files changed, 70 insertions(+), 7 deletions(-) diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 2bb63b4dce..6e70ef90b0 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -2,11 +2,13 @@ import http.server import os import shutil import socket +import tempfile import pytest from openpilot.selfdrive.test.helpers import http_server_context from openpilot.system.hardware.hw import Paths -from openpilot.tools.lib.url_file import URLFile +from openpilot.tools.lib.url_file import URLFile, prune_cache +import openpilot.tools.lib.url_file as url_file_module class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler): @@ -128,3 +130,35 @@ class TestFileDownload: CachingTestRequestHandler.FILE_EXISTS = True length = URLFile(file_url).get_length() assert length == 4 + + +class TestCache: + def test_prune_cache(self, monkeypatch): + with tempfile.TemporaryDirectory() as tmpdir: + monkeypatch.setattr(Paths, 'download_cache_root', staticmethod(lambda: tmpdir + "/")) + + # setup test files and manifest + manifest_lines = [] + for i in range(3): + fname = f"hash_{i}" + with open(tmpdir + "/" + fname, "wb") as f: + f.truncate(1000) + manifest_lines.append(f"{fname} {1000 + i}") + with open(tmpdir + "/manifest.txt", "w") as f: + f.write('\n'.join(manifest_lines)) + + # under limit, shouldn't prune + assert len(os.listdir(tmpdir)) == 4 + prune_cache() + assert len(os.listdir(tmpdir)) == 4 + + # set a tiny cache limit to force eviction (1.5 chunks worth) + monkeypatch.setattr(url_file_module, 'CACHE_SIZE', url_file_module.CHUNK_SIZE + url_file_module.CHUNK_SIZE // 2) + + # prune_cache should evict oldest files to get under limit + prune_cache() + remaining = os.listdir(tmpdir) + # should have evicted at least one file + manifest + assert len(remaining) < 4 + # newest file should remain + assert manifest_lines[2].split()[0] in remaining diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index c7ccab1ae3..790fa7e8fb 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -1,8 +1,9 @@ -import re import logging import os +import re import socket -from hashlib import sha256 +import time +from hashlib import md5 from urllib3 import PoolManager, Retry from urllib3.response import BaseHTTPResponse from urllib3.util import Timeout @@ -14,14 +15,41 @@ from urllib3.exceptions import MaxRetryError # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K +CACHE_SIZE = 10 * 1024 * 1024 * 1024 # total cache size in GB logging.getLogger("urllib3").setLevel(logging.WARNING) -def hash_256(link: str) -> str: - return sha256((link.split("?")[0]).encode('utf-8')).hexdigest() +def hash_url(link: str) -> str: + return md5((link.split("?")[0]).encode('utf-8')).hexdigest() +def prune_cache(new_entry: str | None = None) -> None: + """Evicts oldest cache files (LRU) until cache is under the size limit.""" + # we use a manifest to avoid tons of os.stat syscalls (slow) + manifest = {} + manifest_path = Paths.download_cache_root() + "manifest.txt" + if os.path.exists(manifest_path): + with open(manifest_path) as f: + manifest = {parts[0]: int(parts[1]) for line in f if (parts := line.strip().split()) and len(parts) == 2} + + if new_entry: + manifest[new_entry] = int(time.time()) # noqa: TID251 + + # evict the least recently used files until under limit + sorted_items = sorted(manifest.items(), key=lambda x: x[1]) + while len(manifest) * CHUNK_SIZE > CACHE_SIZE and sorted_items: + key, _ = sorted_items.pop(0) + try: + os.remove(Paths.download_cache_root() + key) + except OSError: + pass + manifest.pop(key, None) + + # write out manifest + with atomic_write(manifest_path, mode="w", overwrite=True) as f: + f.write('\n'.join(f"{k} {v}" for k, v in manifest.items())) + class URLFileException(Exception): pass @@ -77,7 +105,7 @@ class URLFile: if self._length is not None: return self._length - file_length_path = os.path.join(Paths.download_cache_root(), hash_256(self._url) + "_length") + file_length_path = os.path.join(Paths.download_cache_root(), hash_url(self._url) + "_length") if not self._force_download and os.path.exists(file_length_path): with open(file_length_path) as file_length: content = file_length.read() @@ -103,7 +131,7 @@ class URLFile: while True: self._pos = position chunk_number = self._pos / CHUNK_SIZE - file_name = hash_256(self._url) + "_" + str(chunk_number) + file_name = hash_url(self._url) + "_" + str(chunk_number) full_path = os.path.join(Paths.download_cache_root(), str(file_name)) data = None # If we don't have a file, download it @@ -111,6 +139,7 @@ class URLFile: data = self.read_aux(ll=CHUNK_SIZE) with atomic_write(full_path, mode="wb", overwrite=True) as new_cached_file: new_cached_file.write(data) + prune_cache(file_name) else: with open(full_path, "rb") as cached_file: data = cached_file.read() From b58fddb83eab27504e0ba351d567a91e0d62e7e6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Dec 2025 12:20:45 -0800 Subject: [PATCH 030/144] replay: add --benchmark mode (#36957) --- tools/replay/main.cc | 27 +++++++++++++++ tools/replay/replay.cc | 76 ++++++++++++++++++++++++++++++++++++++--- tools/replay/replay.h | 17 ++++++++- tools/replay/seg_mgr.cc | 6 ++++ tools/replay/seg_mgr.h | 2 ++ 5 files changed, 123 insertions(+), 5 deletions(-) diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 4609012194..30f85b1700 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -1,11 +1,13 @@ #include +#include #include #include #include #include #include "common/prefix.h" +#include "common/timing.h" #include "tools/replay/consoleui.h" #include "tools/replay/replay.h" #include "tools/replay/util.h" @@ -31,6 +33,7 @@ Options: --no-hw-decoder Disable HW video decoding --no-vipc Do not output video --all Output all messages including bookmarkButton, uiDebug, userBookmark + --benchmark Run in benchmark mode (process all events then exit with stats) -h, --help Show this help message )"; @@ -66,6 +69,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { {"no-hw-decoder", no_argument, nullptr, 0}, {"no-vipc", no_argument, nullptr, 0}, {"all", no_argument, nullptr, 0}, + {"benchmark", no_argument, nullptr, 0}, {"help", no_argument, nullptr, 'h'}, {nullptr, 0, nullptr, 0}, // Terminating entry }; @@ -79,6 +83,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER}, {"no-vipc", REPLAY_FLAG_NO_VIPC}, {"all", REPLAY_FLAG_ALL_SERVICES}, + {"benchmark", REPLAY_FLAG_BENCHMARK}, }; if (argc == 1) { @@ -149,6 +154,28 @@ int main(int argc, char *argv[]) { return 1; } + if (config.flags & REPLAY_FLAG_BENCHMARK) { + replay.start(config.start_seconds); + replay.waitForFinished(); + + const auto &stats = replay.getBenchmarkStats(); + uint64_t process_start = stats.process_start_ts; + + std::cout << "\n===== REPLAY BENCHMARK RESULTS =====\n"; + std::cout << "Route: " << replay.route().name() << "\n\n"; + + std::cout << "TIMELINE:\n"; + std::cout << " t=0 ms process start\n"; + for (const auto &[ts, event] : stats.timeline) { + double ms = (ts - process_start) / 1e6; + std::cout << " t=" << std::fixed << std::setprecision(0) << ms << " ms" + << std::string(std::max(1, 8 - static_cast(std::to_string(static_cast(ms)).length())), ' ') + << event << "\n"; + } + + return 0; + } + ConsoleUI console_ui(&replay); replay.start(config.start_seconds); return console_ui.exec(); diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index cc105dd10e..d8d59e41a4 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -2,6 +2,8 @@ #include #include +#include +#include #include "cereal/services.h" #include "common/params.h" #include "tools/replay/util.h" @@ -19,6 +21,14 @@ Replay::Replay(const std::string &route, std::vector allow, std::ve : sm_(sm), flags_(flags), seg_mgr_(std::make_unique(route, flags, data_dir, auto_source)) { std::signal(SIGUSR1, interrupt_sleep_handler); + if (flags_ & REPLAY_FLAG_BENCHMARK) { + benchmark_stats_.process_start_ts = nanos_since_boot(); + seg_mgr_->setBenchmarkCallback([this](int seg_num, const std::string& event) { + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), + "segment " + std::to_string(seg_num) + " " + event); + }); + } + if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { block.insert(block.end(), {"bookmarkButton", "uiDebug", "userBookmark"}); } @@ -78,8 +88,13 @@ Replay::~Replay() { bool Replay::load() { rInfo("loading route %s", seg_mgr_->route_.name().c_str()); + if (!seg_mgr_->load()) return false; + if (hasFlag(REPLAY_FLAG_BENCHMARK)) { + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "route metadata loaded"); + } + min_seconds_ = seg_mgr_->route_.segments().begin()->first * 60; max_seconds_ = (seg_mgr_->route_.segments().rbegin()->first + 1) * 60; return true; @@ -257,8 +272,13 @@ void Replay::streamThread() { stream_thread_id = pthread_self(); std::unique_lock lk(stream_lock_); + int last_processed_segment = -1; + uint64_t segment_start_time = 0; + bool streaming_started = false; + while (true) { stream_cv_.wait(lk, [this]() { return exit_ || (events_ready_ && !interrupt_requested_); }); + if (exit_) break; event_data_ = seg_mgr_->getEventData(); @@ -270,14 +290,19 @@ void Replay::streamThread() { continue; } - auto it = publishEvents(first, events.cend()); + if (!streaming_started && hasFlag(REPLAY_FLAG_BENCHMARK)) { + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "streaming started"); + streaming_started = true; + } + + auto it = publishEvents(first, events.cend(), last_processed_segment, segment_start_time); // Ensure frames are sent before unlocking to prevent race conditions if (camera_server_) { camera_server_->waitForSent(); } - if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP)) { + if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP) && !hasFlag(REPLAY_FLAG_BENCHMARK)) { int last_segment = seg_mgr_->route_.segments().rbegin()->first; if (event_data_->isSegmentLoaded(last_segment)) { rInfo("reaches the end of route, restart from beginning"); @@ -285,12 +310,28 @@ void Replay::streamThread() { seekTo(minSeconds(), false); stream_lock_.lock(); } + } else if (it == events.cend() && hasFlag(REPLAY_FLAG_BENCHMARK)) { + // Exit benchmark mode after first segment completes + exit_ = true; + break; } } + + if (hasFlag(REPLAY_FLAG_BENCHMARK)) { + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "benchmark done"); + + { + std::unique_lock lock(benchmark_lock_); + benchmark_done_ = true; + } + benchmark_cv_.notify_one(); + } } std::vector::const_iterator Replay::publishEvents(std::vector::const_iterator first, - std::vector::const_iterator last) { + std::vector::const_iterator last, + int &last_processed_segment, + uint64_t &segment_start_time) { uint64_t evt_start_ts = cur_mono_time_; uint64_t loop_start_ts = nanos_since_boot(); double prev_replay_speed = speed_; @@ -304,6 +345,23 @@ std::vector::const_iterator Replay::publishEvents(std::vector::con seg_mgr_->setCurrentSegment(segment); } + // Track segment completion for benchmark timeline + if (hasFlag(REPLAY_FLAG_BENCHMARK) && segment != last_processed_segment) { + if (last_processed_segment >= 0 && segment_start_time > 0) { + uint64_t processing_time_ns = nanos_since_boot() - segment_start_time; + double processing_time_ms = processing_time_ns / 1e6; + double realtime_factor = 60.0 / (processing_time_ns / 1e9); // 60s per segment + + std::ostringstream oss; + oss << "segment " << last_processed_segment << " done publishing (" + << std::fixed << std::setprecision(0) << processing_time_ms << " ms, " + << std::fixed << std::setprecision(0) << realtime_factor << "x realtime)"; + benchmark_stats_.timeline.emplace_back(nanos_since_boot(), oss.str()); + } + segment_start_time = nanos_since_boot(); + last_processed_segment = segment; + } + cur_mono_time_ = evt.mono_time; cur_which_ = evt.which; @@ -320,7 +378,8 @@ std::vector::const_iterator Replay::publishEvents(std::vector::con evt_start_ts = evt.mono_time; loop_start_ts = current_nanos; prev_replay_speed = speed_; - } else if (time_diff > 0) { + } else if (time_diff > 0 && !hasFlag(REPLAY_FLAG_BENCHMARK)) { + // Skip sleep in benchmark mode for maximum throughput precise_nano_sleep(time_diff, interrupt_requested_); } @@ -338,3 +397,12 @@ std::vector::const_iterator Replay::publishEvents(std::vector::con return first; } + +void Replay::waitForFinished() { + if (!hasFlag(REPLAY_FLAG_BENCHMARK)) { + return; + } + + std::unique_lock lock(benchmark_lock_); + benchmark_cv_.wait(lock, [this]() { return benchmark_done_; }); +} diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 5e868d2427..58c1b71b8a 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -24,6 +24,12 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_HW_DECODER = 0x0100, REPLAY_FLAG_NO_VIPC = 0x0400, REPLAY_FLAG_ALL_SERVICES = 0x0800, + REPLAY_FLAG_BENCHMARK = 0x1000, +}; + +struct BenchmarkStats { + uint64_t process_start_ts = 0; + std::vector> timeline; }; class Replay { @@ -57,6 +63,8 @@ public: inline const std::optional findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); } const std::shared_ptr getEventData() const { return seg_mgr_->getEventData(); } void installEventFilter(std::function filter) { event_filter_ = filter; } + void waitForFinished(); + const BenchmarkStats &getBenchmarkStats() const { return benchmark_stats_; } // Event callback functions std::function onSegmentsMerged = nullptr; @@ -72,7 +80,9 @@ private: void handleSegmentMerge(); void interruptStream(const std::function& update_fn); std::vector::const_iterator publishEvents(std::vector::const_iterator first, - std::vector::const_iterator last); + std::vector::const_iterator last, + int &last_processed_segment, + uint64_t &segment_start_time); void publishMessage(const Event *e); void publishFrame(const Event *e); void checkSeekProgress(); @@ -107,4 +117,9 @@ private: std::function event_filter_ = nullptr; std::shared_ptr event_data_ = std::make_shared(); + + BenchmarkStats benchmark_stats_; + std::condition_variable benchmark_cv_; + std::mutex benchmark_lock_; + bool benchmark_done_ = false; }; diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc index f4e865d476..0778cacbc1 100644 --- a/tools/replay/seg_mgr.cc +++ b/tools/replay/seg_mgr.cc @@ -118,9 +118,15 @@ void SegmentManager::loadSegmentsInRange(SegmentMap::iterator begin, SegmentMap: for (auto it = first; it != last; ++it) { auto &segment_ptr = it->second; if (!segment_ptr) { + if (onBenchmarkEvent_) { + onBenchmarkEvent_(it->first, "loading"); + } segment_ptr = std::make_shared( it->first, route_.at(it->first), flags_, filters_, [this](int seg_num, bool success) { + if (onBenchmarkEvent_) { + onBenchmarkEvent_(seg_num, success ? "loaded" : "load failed"); + } std::unique_lock lock(mutex_); needs_update_ = true; cv_.notify_one(); diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h index 640169749e..54e156fb60 100644 --- a/tools/replay/seg_mgr.h +++ b/tools/replay/seg_mgr.h @@ -27,6 +27,7 @@ public: bool load(); void setCurrentSegment(int seg_num); void setCallback(const std::function &callback) { onSegmentMergedCallback_ = callback; } + void setBenchmarkCallback(const std::function &callback) { onBenchmarkEvent_ = callback; } void setFilters(const std::vector &filters) { filters_ = filters; } const std::shared_ptr getEventData() const { return std::atomic_load(&event_data_); } bool hasSegment(int n) const { return segments_.find(n) != segments_.end(); } @@ -52,5 +53,6 @@ private: SegmentMap segments_; std::shared_ptr event_data_; std::function onSegmentMergedCallback_ = nullptr; + std::function onBenchmarkEvent_ = nullptr; std::set merged_segments_; }; From 883d1232d31bad9318d31d08ff5302f303192296 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sun, 28 Dec 2025 13:00:35 -0800 Subject: [PATCH 031/144] [bot] Update Python packages (#36606) update Co-authored-by: Adeeb Shihadeh --- msgq_repo | 2 +- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 2615 +++++++++++++++++++++++++------------------------ 5 files changed, 1338 insertions(+), 1285 deletions(-) diff --git a/msgq_repo b/msgq_repo index 349bf449b7..20f2493855 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 349bf449b7329527162598de357bfecf232abc3f +Subproject commit 20f2493855ef32339b80f0ad76b3cb82210dc474 diff --git a/opendbc_repo b/opendbc_repo index 4aa7ca9722..edf19be8ef 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4aa7ca972290af6c6bbd314d1975eab46a888b6f +Subproject commit edf19be8efe06a5387265adc4650725bb56b5c46 diff --git a/panda b/panda index 1ffad74f88..e42367df97 160000 --- a/panda +++ b/panda @@ 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self._get_segments_remote() self.max_seg_number = self._segments[-1].name.segment_num - @property - def metadata(self): - if not self._metadata: - api = CommaApi(get_token()) - self._metadata = api.get('v1/route/' + self.name.canonical_name) - return self._metadata - @property def name(self): return self._name @@ -90,7 +82,6 @@ class Route: url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path, url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path, url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path, - self.metadata['url'], ) else: segments[segment_name] = Segment( @@ -101,7 +92,6 @@ class Route: url if fn in FileName.DCAMERA else None, url if fn in FileName.ECAMERA else None, url if fn in FileName.QCAMERA else None, - self.metadata['url'], ) return sorted(segments.values(), key=lambda seg: seg.name.segment_num) @@ -167,7 +157,7 @@ class Route: except StopIteration: qcamera_path = None - segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, self.metadata['url'])) + segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path)) if len(segments) == 0: raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}') @@ -175,10 +165,9 @@ class Route: class Segment: - def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, url): + def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path): self._events = None self._name = SegmentName(name) - self.url = f'{url}/{self._name.segment_num}' self.log_path = log_path self.qlog_path = qlog_path self.camera_path = camera_path @@ -190,6 +179,18 @@ class Segment: def name(self): return self._name + @staticmethod + @cache + def _get_route_metadata(route_name: str): + api = CommaApi(get_token()) + return api.get(f'v1/route/{route_name}') + + @property + def url(self): + route_name = self._name.route_name.canonical_name + metadata = self._get_route_metadata(route_name) + return f'{metadata["url"]}/{self._name.segment_num}' + @property def events(self): if not self._events: From 63c9a85c6a15785d9c5182c54b770b4822cfc435 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Dec 2025 21:38:54 -0800 Subject: [PATCH 033/144] FrameReader: use HW accel if available (#36964) * FrameReader: add macOS hw accel * sys * more platforms * logging --- tools/lib/framereader.py | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 30ce1f80fe..64e2f9f434 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -1,6 +1,8 @@ import os import subprocess import json +import logging +from functools import cache from collections.abc import Iterator from collections import OrderedDict @@ -9,11 +11,24 @@ from openpilot.tools.lib.filereader import FileReader, resolve_name from openpilot.tools.lib.exceptions import DataUnreadableError from openpilot.tools.lib.vidindex import hevc_index +logger = logging.getLogger("tools") HEVC_SLICE_B = 0 HEVC_SLICE_P = 1 HEVC_SLICE_I = 2 +@cache +def get_hw_accel() -> list[str]: + """Detect and return the best available ffmpeg hardware acceleration.""" + priority = ("videotoolbox", "cuda", "vaapi", "d3d11va") + result = subprocess.run(["ffmpeg", "-hwaccels"], capture_output=True, text=True, timeout=5) + for accel in priority: + if accel in result.stdout.lower(): + logger.info(f"HW accelerated video decode found, using ffmpeg's {accel}") + return ["-hwaccel", accel] + logger.warning("no HW accelerated video found with `ffmpeg -hwaccels`. falling back to ffmpeg CPU decode") + return [] + class LRUCache: def __init__(self, capacity: int): @@ -46,6 +61,7 @@ def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.n threads = os.getenv("FFMPEG_THREADS", "0") args = ["ffmpeg", "-v", "quiet", "-threads", threads, + *get_hw_accel(), "-c:v", "hevc", "-vsync", "0", "-f", vid_fmt, @@ -171,3 +187,7 @@ class FrameReader: self.fidx, frame = next(self.it) self._cache[self.fidx] = frame return self._cache[fidx] + + +if __name__ == "__main__": + get_hw_accel() From 9442bc9aeccf979a90fcc7e1e1b291ea630559df Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Mon, 29 Dec 2025 14:55:39 -0700 Subject: [PATCH 034/144] modeld_v2: planplus model tuning (#1620) * modeld: planplus model tuning * little more * final --------- Co-authored-by: Jason Wen --- common/params_keys.h | 1 + sunnypilot/modeld_v2/modeld.py | 6 +- .../modeld_v2/tests/test_recovery_power.py | 61 +++++++++++++++++++ sunnypilot/sunnylink/params_metadata.json | 7 +++ 4 files changed, 73 insertions(+), 2 deletions(-) create mode 100644 sunnypilot/modeld_v2/tests/test_recovery_power.py diff --git a/common/params_keys.h b/common/params_keys.h index 7cfdf75406..89f70471c5 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -224,6 +224,7 @@ inline static std::unordered_map keys = { {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}}, {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}}, {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}}, + {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}}, // mapd {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}}, diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index 82eb099e7e..b3b1d35fd9 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -28,7 +28,6 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle from openpilot.sunnypilot.models.runners.helpers import get_model_runner PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad" -RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong class FrameMeta: @@ -63,6 +62,7 @@ class ModelState(ModelStateBase): self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0")) self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0")) self.MIN_LAT_CONTROL_SPEED = 0.3 + self.PLANPLUS_CONTROL: float = 1.0 buffer_length = 5 if self.model_runner.is_20hz else 2 self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names} @@ -158,7 +158,8 @@ class ModelState(ModelStateBase): lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: plan = model_output['plan'][0] if 'planplus' in model_output: - plan = plan + RECOVERY_POWER*model_output['planplus'][0] + recovery_power = self.PLANPLUS_CONTROL * (0.75 if v_ego > 20.0 else 1.0) + plan = plan + recovery_power * model_output['planplus'][0] desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS, action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS) @@ -283,6 +284,7 @@ def main(demo=False): v_ego = max(sm["carState"].vEgo, 0.) if sm.frame % 60 == 0: model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay) + model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True) lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) diff --git a/sunnypilot/modeld_v2/tests/test_recovery_power.py b/sunnypilot/modeld_v2/tests/test_recovery_power.py new file mode 100644 index 0000000000..e38b2c86dc --- /dev/null +++ b/sunnypilot/modeld_v2/tests/test_recovery_power.py @@ -0,0 +1,61 @@ +import numpy as np + +from cereal import log + +from openpilot.sunnypilot.modeld_v2.constants import Plan +from openpilot.sunnypilot.modeld_v2.modeld import ModelState +import openpilot.sunnypilot.modeld_v2.modeld as modeld + + +class MockStruct: + def __init__(self, **kwargs): + for k, v in kwargs.items(): + setattr(self, k, v) + + +def test_recovery_power_scaling(): + state = MockStruct( + PLANPLUS_CONTROL=1.0, + LONG_SMOOTH_SECONDS=0.3, + LAT_SMOOTH_SECONDS=0.1, + MIN_LAT_CONTROL_SPEED=0.3, + mlsim=True, + generation=12, + constants=MockStruct(T_IDXS=np.arange(100), DESIRE_LEN=8) + ) + prev_action = log.ModelDataV2.Action() + recorded_vel: list = [] + + def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0): + recorded_vel.append(plan_vel.copy()) + return 0.0, False + + modeld.get_accel_from_plan = mock_accel + modeld.get_curvature_from_output = lambda *args: 0.0 + plan = np.random.rand(1, 100, 15).astype(np.float32) + planplus = np.random.rand(1, 100, 15).astype(np.float32) + + model_output: dict = { + 'plan': plan.copy(), + 'planplus': planplus.copy() + } + + test_cases: list = [ + # (control, v_ego, expected_factor) + (0.55, 20.0, 1.0), + (1.0, 25.0, .75), + (1.5, 25.1, 0.75), + (2.0, 20.0, 1.0), + (0.75, 19.0, 1.0), + (0.8, 25.1, 0.75), + ] + + for control, v_ego, factor in test_cases: + state.PLANPLUS_CONTROL = control + recorded_vel.clear() + ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego) + + expected_recovery_power = control * factor + expected_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + expected_recovery_power * planplus[0, :, Plan.VELOCITY][:, 0] + + np.testing.assert_allclose(recorded_vel[0], expected_plan_vel, rtol=1e-5, atol=1e-6) diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index bbefc3d0c8..f335457fb5 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -826,6 +826,13 @@ "title": "Panda Som Reset Triggered", "description": "" }, + "PlanplusControl": { + "title": "Plan Plus Controls", + "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong", + "min": 0.0, + "max": 2.0, + "step": 0.1 + }, "PrimeType": { "title": "Prime Type", "description": "" From 6df313b974ef2d7a779c23b1540b30c5eaed283c Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Mon, 29 Dec 2025 15:01:58 -0700 Subject: [PATCH 035/144] modeld_v2: remove dead test (#1621) Co-authored-by: Jason Wen --- sunnypilot/modeld_v2/tests/test_modeld.py | 102 ---------------------- 1 file changed, 102 deletions(-) delete mode 100644 sunnypilot/modeld_v2/tests/test_modeld.py diff --git a/sunnypilot/modeld_v2/tests/test_modeld.py b/sunnypilot/modeld_v2/tests/test_modeld.py deleted file mode 100644 index 6927c9e473..0000000000 --- a/sunnypilot/modeld_v2/tests/test_modeld.py +++ /dev/null @@ -1,102 +0,0 @@ -import numpy as np -import random - -import cereal.messaging as messaging -from msgq.visionipc import VisionIpcServer, VisionStreamType -from opendbc.car.car_helpers import get_demo_car_params -from openpilot.common.params import Params -from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.common.realtime import DT_MDL -from openpilot.system.manager.process_config import managed_processes -from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state - -CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam -IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8) -IMG_BYTES = IMG.flatten().tobytes() - - -class TestModeld: - - def setup_method(self): - self.vipc_server = VisionIpcServer("camerad") - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height) - self.vipc_server.start_listener() - Params().put("CarParams", get_demo_car_params().to_bytes()) - - self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) - self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) - - managed_processes['modeld'].start() - self.pm.wait_for_readers_to_update("roadCameraState", 10) - - def teardown_method(self): - managed_processes['modeld'].stop() - del self.vipc_server - - def _send_frames(self, frame_id, cams=None): - if cams is None: - cams = ('roadCameraState', 'wideRoadCameraState') - - cs = None - for cam in cams: - msg = messaging.new_message(cam) - cs = getattr(msg, cam) - cs.frameId = frame_id - cs.timestampSof = int((frame_id * DT_MDL) * 1e9) - cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9)) - cam_meta = meta_from_camera_state(cam) - - self.pm.send(msg.which(), msg) - self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId, - cs.timestampSof, cs.timestampEof) - return cs - - def _wait(self): - self.sm.update(5000) - if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId: - self.sm.update(1000) - - def test_modeld(self): - for n in range(1, 500): - cs = self._send_frames(n) - self._wait() - - mdl = self.sm['modelV2'] - assert mdl.frameId == n - assert mdl.frameIdExtra == n - assert mdl.timestampEof == cs.timestampEof - assert mdl.frameAge == 0 - assert mdl.frameDropPerc == 0 - - odo = self.sm['cameraOdometry'] - assert odo.frameId == n - assert odo.timestampEof == cs.timestampEof - - def test_dropped_frames(self): - """ - modeld should only run on consecutive road frames - """ - frame_id = -1 - road_frames = list() - for n in range(1, 50): - if (random.random() < 0.1) and n > 3: - cams = random.choice([(), ('wideRoadCameraState', )]) - self._send_frames(n, cams) - else: - self._send_frames(n) - road_frames.append(n) - self._wait() - - if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1: - frame_id = road_frames[-1] - - mdl = self.sm['modelV2'] - odo = self.sm['cameraOdometry'] - assert mdl.frameId == frame_id - assert mdl.frameIdExtra == frame_id - assert odo.frameId == frame_id - if n != frame_id: - assert not self.sm.updated['modelV2'] - assert not self.sm.updated['cameraOdometry'] From a5348b8679c45fd3e903bae6fe093bcc9fcbd971 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 29 Dec 2025 16:41:52 -0800 Subject: [PATCH 036/144] crcmod -> crcmod-plus (#36968) --- pyproject.toml | 2 +- uv.lock | 90 +++++++++++++++++++++++++++++--------------------- 2 files changed, 53 insertions(+), 39 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index bb4ac0e8d8..e048894494 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -14,7 +14,7 @@ dependencies = [ "pyserial", # pigeond + qcomgpsd "requests", # many one-off uses "sympy", # rednose + friends - "crcmod", # cars + qcomgpsd + "crcmod-plus", # cars + qcomgpsd "tqdm", # cars (fw_versions.py) on start + many one-off uses # hardwared diff --git a/uv.lock b/uv.lock index 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!= 'linux'" }, + { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] wheels = [ { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:d0afaf3b005e35e14b929d5491d2d5b64562d0c1cd5093ba969fb63908670dd4" }, @@ -1298,7 +1312,7 @@ dependencies = [ { name = "aiortc" }, { name = "casadi" }, { name = "cffi" }, - { name = "crcmod" }, + { name = "crcmod-plus" }, { name = "cython" }, { name = "future-fstrings" }, { name = "inputs" }, @@ -1392,7 +1406,7 @@ requires-dist = [ { name = "cffi" }, { name = "codespell", marker = "extra == 'testing'" }, { name = "coverage", marker = "extra == 'testing'" }, - { name = "crcmod" }, + { name = "crcmod-plus" }, { name = "cython" }, { name = "dbus-next", marker = "extra == 'dev'" }, { name = "dearpygui", marker = "(platform_machine != 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marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907, upload-time = "2024-11-14T00:11:41.584Z" } wheels = [ From edeede5e82282369e0e5f8e302de0863159efb3d Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Mon, 29 Dec 2025 20:03:08 -0700 Subject: [PATCH 037/144] modeld_v2: conditional model compilation for metadrive testing (#1623) * modeld_v2: conditional model compilation for PC * full send * shebang --------- Co-authored-by: Jason Wen --- sunnypilot/modeld_v2/SConscript | 36 +++++++++ sunnypilot/modeld_v2/install_models_pc.py | 89 +++++++++++++++++++++++ sunnypilot/models/runners/helpers.py | 10 +-- 3 files changed, 126 insertions(+), 9 deletions(-) create mode 100755 sunnypilot/modeld_v2/install_models_pc.py diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript index 4c04b7382f..750a242ad5 100644 --- a/sunnypilot/modeld_v2/SConscript +++ b/sunnypilot/modeld_v2/SConscript @@ -1,3 +1,4 @@ +import os import glob Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations') @@ -28,3 +29,38 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor cython_libs = envCython["LIBS"] + libs commonmodel_lib = lenv.Library('commonmodel', common_src) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x] + +# Get model metadata +PC = not os.path.isfile('/TICI') +if PC: + inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)] + outputs = [] + model_dir = Dir("models").abspath + cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}' + + for model_name in ['supercombo', 'driving_vision', 'driving_policy']: + if File(f"models/{model_name}.onnx").exists(): + inputs.append(File(f"models/{model_name}.onnx")) + inputs.append(File(f"models/{model_name}_tinygrad.pkl")) + outputs.append(File(f"models/{model_name}_metadata.pkl")) + if outputs: + lenv.Command(outputs, inputs, cmd) + +def tg_compile(flags, model_name): + pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' + fn = File(f"models/{model_name}").abspath + return lenv.Command( + fn + "_tinygrad.pkl", + [fn + ".onnx"] + tinygrad_files, + f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + ) + +# Compile small models +for model_name in ['supercombo', 'driving_vision', 'driving_policy']: + if File(f"models/{model_name}.onnx").exists(): + flags = { + 'larch64': 'DEV=QCOM', + 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env + }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0') + tg_compile(flags, model_name) diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/sunnypilot/modeld_v2/install_models_pc.py new file mode 100755 index 0000000000..3f964dc285 --- /dev/null +++ b/sunnypilot/modeld_v2/install_models_pc.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python3 +import sys +import shutil +import pickle +import codecs +import onnx +from pathlib import Path + +from openpilot.system.hardware.hw import Paths + + +def get_name_and_shape(value_info): + shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) + return value_info.name, shape + + +def get_metadata_value_by_name(model, name): + for prop in model.metadata_props: + if prop.key == name: + return prop.value + return None + + +def generate_metadata_pkl(model_path, output_path): + try: + model = onnx.load(str(model_path)) + output_slices = get_metadata_value_by_name(model, 'output_slices') + + if output_slices: + metadata = { + 'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'), + 'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")), + 'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]), + 'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output]) + } + with open(output_path, 'wb') as f: + pickle.dump(metadata, f) + return True + else: + return False + except Exception: + return False + + +def install_models(model_dir): + model_dir = Path(model_dir) + models = ["driving_policy", "driving_vision"] + found_models = [] + + for model in models: + if (model_dir / f"{model}.onnx").exists(): + found_models.append(model) + + if not found_models: + return + + try: + custom_name = input(f"Found models ({', '.join(found_models)}). Enter model short name (e.g. wmiv4): ").strip() + except EOFError: + return + + if not custom_name: + print("No name provided, skipping installation.") + return + + dest_dir = Path(Paths.model_root()) + dest_dir.mkdir(parents=True, exist_ok=True) + + for model in found_models: + onnx_path = model_dir / f"{model}.onnx" + tinygrad_pkl = model_dir / f"{model}_tinygrad.pkl" + metadata_pkl = model_dir / f"{model}_metadata.pkl" + + if not metadata_pkl.exists(): + generate_metadata_pkl(onnx_path, metadata_pkl) + + dest_tinygrad = dest_dir / f"{model}_{custom_name}_tinygrad.pkl" + dest_metadata = dest_dir / f"{model}_{custom_name}_metadata.pkl" + + if tinygrad_pkl.exists(): + shutil.move(str(tinygrad_pkl), str(dest_tinygrad)) + if metadata_pkl.exists(): + shutil.move(str(metadata_pkl), str(dest_metadata)) + +if __name__ == "__main__": + if len(sys.argv) < 2: + print("Usage: install_models_pc.py ") + sys.exit(1) + install_models(sys.argv[1]) diff --git a/sunnypilot/models/runners/helpers.py b/sunnypilot/models/runners/helpers.py index 6a128b340e..8f9d8fc2f5 100644 --- a/sunnypilot/models/runners/helpers.py +++ b/sunnypilot/models/runners/helpers.py @@ -2,25 +2,17 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle from openpilot.sunnypilot.models.runners.model_runner import ModelRunner from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner from openpilot.sunnypilot.models.runners.constants import ModelType -from openpilot.system.hardware import TICI -if not TICI: - from openpilot.sunnypilot.models.runners.onnx.onnx_runner import ONNXRunner def get_model_runner() -> ModelRunner: """ Factory function to create and return the appropriate ModelRunner instance. - Selects between ONNXRunner (for non-TICI platforms) and TinygradRunner - (for TICI platforms), choosing TinygradSplitRunner if separate vision/policy + Selects TinygradRunner, choosing TinygradSplitRunner if separate vision/policy models are detected in the active bundle. :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner). """ - if not TICI: - return ONNXRunner() - - # On TICI platforms, use Tinygrad runners bundle = get_active_bundle() if bundle and bundle.models: model_types = {m.type.raw for m in bundle.models} From 70386c6b00a903deff9a641104911bc6c7ec51a5 Mon Sep 17 00:00:00 2001 From: Nayan Date: Tue, 30 Dec 2025 23:20:20 -0500 Subject: [PATCH 038/144] ui: fix Always Offroad button visibility (#1632) always offroad button fix --- selfdrive/ui/sunnypilot/layouts/settings/device.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py index 36c5fdb342..448a4faab6 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/device.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py @@ -202,7 +202,7 @@ class DeviceLayoutSP(DeviceLayout): self._scroller._items.remove(self._always_offroad_btn) if ui_state.is_offroad() and not always_offroad: self._scroller._items.insert(len(self._scroller._items) - 1, self._always_offroad_btn) - elif not ui_state.is_offroad(): + else: self._scroller._items.insert(0, self._always_offroad_btn) # Quiet Mode button From fb8f46cba9dc90af481719945c21eeecef8d6996 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 31 Dec 2025 00:08:36 -0500 Subject: [PATCH 039/144] Reimplement sunnypilot Terms of Service & sunnylink Consent Screens (#1633) * tos reimpl * nah * simpler * check consent on sunnylink panel - mici * slight cleanup * rename * keep it off * decouple * more rename * more decouple * a bit more * fix state * decouple more * a bit more * wrong type * rearrange * don't do that * final * lint * include * more --------- Co-authored-by: nayan --- common/params_keys.h | 2 + selfdrive/ui/layouts/onboarding.py | 47 +++++-- selfdrive/ui/mici/layouts/onboarding.py | 45 +++++-- selfdrive/ui/sunnypilot/layouts/onboarding.py | 116 ++++++++++++++++++ .../sunnypilot/layouts/settings/sunnylink.py | 34 +++-- selfdrive/ui/sunnypilot/mici/__init__.py | 0 .../ui/sunnypilot/mici/layouts/onboarding.py | 97 +++++++++++++++ .../ui/sunnypilot/mici/layouts/sunnylink.py | 47 ++++--- selfdrive/ui/tests/diff/replay.py | 4 +- .../ui/tests/test_ui/raylib_screenshots.py | 4 +- sunnypilot/selfdrive/assets/logo.png | 3 + sunnypilot/sunnylink/athena/sunnylinkd.py | 6 +- sunnypilot/sunnylink/params_metadata.json | 8 ++ system/hardware/hardwared.py | 3 +- system/version.py | 3 + 15 files changed, 376 insertions(+), 43 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/layouts/onboarding.py create mode 100644 selfdrive/ui/sunnypilot/mici/__init__.py create mode 100644 selfdrive/ui/sunnypilot/mici/layouts/onboarding.py create mode 100644 sunnypilot/selfdrive/assets/logo.png diff --git a/common/params_keys.h b/common/params_keys.h index 89f70471c5..054ce97e6d 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -145,6 +145,7 @@ inline static std::unordered_map keys = { {"CarParamsSPPersistent", {PERSISTENT, BYTES}}, {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}}, {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}}, + {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}}, {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}}, {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}}, {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}}, @@ -154,6 +155,7 @@ inline static std::unordered_map keys = { {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}}, {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}}, {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}}, + {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}}, {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}}, {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}}, {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}}, diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py index b19cebb266..c480a3ed9d 100644 --- a/selfdrive/ui/layouts/onboarding.py +++ b/selfdrive/ui/layouts/onboarding.py @@ -11,7 +11,9 @@ from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle from openpilot.system.ui.widgets.label import Label from openpilot.selfdrive.ui.ui_state import ui_state -from openpilot.system.version import terms_version, training_version +from openpilot.system.version import terms_version, training_version, terms_version_sp + +from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkOnboarding DEBUG = False @@ -33,6 +35,7 @@ class OnboardingState(IntEnum): TERMS = 0 ONBOARDING = 1 DECLINE = 2 + SUNNYLINK_CONSENT = 3 class TrainingGuide(Widget): @@ -110,14 +113,14 @@ class TermsPage(Widget): self._on_decline = on_decline self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT) - self._desc = Label(tr("You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at https://comma.ai/terms before continuing."), + self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."), font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT) self._decline_btn = Button(tr("Decline"), click_callback=on_decline) self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept) def _render(self, _): - welcome_x = self._rect.x + 165 + welcome_x = self._rect.x + 95 welcome_y = self._rect.y + 165 welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90) self._title.render(welcome_rect) @@ -143,7 +146,7 @@ class TermsPage(Widget): class DeclinePage(Widget): def __init__(self, back_callback=None): super().__init__() - self._text = Label(tr("You must accept the Terms and Conditions in order to use sunnypilot."), + self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."), font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT) self._back_btn = Button(tr("Back"), click_callback=back_callback) self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER, @@ -180,9 +183,21 @@ class OnboardingWindow(Widget): self._training_guide: TrainingGuide | None = None self._decline_page = DeclinePage(back_callback=self._on_decline_back) + # sunnylink consent pages + self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp + self._sunnylink = SunnylinkOnboarding() + if not self._accepted_terms: + self._state = OnboardingState.TERMS + elif not self._sunnylink.completed: + self._state = OnboardingState.SUNNYLINK_CONSENT + elif not self._training_done: + self._state = OnboardingState.ONBOARDING + else: + self._state = OnboardingState.ONBOARDING + @property def completed(self) -> bool: - return self._accepted_terms and self._training_done + return self._accepted_terms and self._sunnylink.completed and self._training_done def _on_terms_declined(self): self._state = OnboardingState.DECLINE @@ -192,8 +207,12 @@ class OnboardingWindow(Widget): def _on_terms_accepted(self): ui_state.params.put("HasAcceptedTerms", terms_version) - self._state = OnboardingState.ONBOARDING - if self._training_done: + ui_state.params.put("HasAcceptedTermsSP", terms_version_sp) + if not self._sunnylink.completed: + self._state = OnboardingState.SUNNYLINK_CONSENT + elif not self._training_done: + self._state = OnboardingState.ONBOARDING + else: gui_app.set_modal_overlay(None) def _on_completed_training(self): @@ -206,8 +225,18 @@ class OnboardingWindow(Widget): if self._state == OnboardingState.TERMS: self._terms.render(self._rect) - if self._state == OnboardingState.ONBOARDING: - self._training_guide.render(self._rect) + elif self._state == OnboardingState.SUNNYLINK_CONSENT: + self._sunnylink.render(self._rect) + if self._sunnylink.completed: + if not self._training_done: + self._state = OnboardingState.ONBOARDING + else: + gui_app.set_modal_overlay(None) + elif self._state == OnboardingState.ONBOARDING: + if not self._training_done: + self._training_guide.render(self._rect) + else: + gui_app.set_modal_overlay(None) elif self._state == OnboardingState.DECLINE: self._decline_page.render(self._rect) return -1 diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index b175a3fd2e..c7fcd78530 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -17,13 +17,16 @@ from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog from openpilot.system.ui.widgets.label import gui_label from openpilot.system.ui.lib.multilang import tr -from openpilot.system.version import terms_version, training_version +from openpilot.system.version import terms_version, training_version, terms_version_sp + +from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkOnboarding class OnboardingState(IntEnum): TERMS = 0 ONBOARDING = 1 DECLINE = 2 + SUNNYLINK_CONSENT = 3 class DriverCameraSetupDialog(DriverCameraDialog): @@ -412,10 +415,10 @@ class TermsPage(SetupTermsPage): super().__init__(on_accept, on_decline, "decline") info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60) - self._title_header = TermsHeader("terms & conditions", info_txt) + self._title_header = TermsHeader("terms of service", info_txt) - self._terms_label = UnifiedLabel("You must accept the Terms and Conditions to use sunnypilot. " + - "Read the latest terms at https://comma.ai/terms before continuing.", 36, + self._terms_label = UnifiedLabel("You must accept the Terms of Service to use sunnypilot. " + + "Read the latest terms at https://sunnypilot.ai/terms before continuing.", 36, FontWeight.ROMAN) @property @@ -449,6 +452,18 @@ class OnboardingWindow(Widget): self._training_guide = TrainingGuide(completed_callback=self._on_completed_training) self._decline_page = DeclinePage(back_callback=self._on_decline_back) + # sunnylink consent pages + self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp + self._sunnylink = SunnylinkOnboarding() + if not self._accepted_terms: + self._state = OnboardingState.TERMS + elif not self._sunnylink.completed: + self._state = OnboardingState.SUNNYLINK_CONSENT + elif not self._training_done: + self._state = OnboardingState.ONBOARDING + else: + self._state = OnboardingState.ONBOARDING + def show_event(self): super().show_event() device.set_override_interactive_timeout(300) @@ -459,7 +474,7 @@ class OnboardingWindow(Widget): @property def completed(self) -> bool: - return self._accepted_terms and self._training_done + return self._accepted_terms and self._sunnylink.completed and self._training_done def _on_terms_declined(self): self._state = OnboardingState.DECLINE @@ -473,7 +488,13 @@ class OnboardingWindow(Widget): def _on_terms_accepted(self): ui_state.params.put("HasAcceptedTerms", terms_version) - self._state = OnboardingState.ONBOARDING + ui_state.params.put("HasAcceptedTermsSP", terms_version_sp) + if not self._sunnylink.completed: + self._state = OnboardingState.SUNNYLINK_CONSENT + elif not self._training_done: + self._state = OnboardingState.ONBOARDING + else: + self.close() def _on_completed_training(self): ui_state.params.put("CompletedTrainingVersion", training_version) @@ -482,8 +503,18 @@ class OnboardingWindow(Widget): def _render(self, _): if self._state == OnboardingState.TERMS: self._terms.render(self._rect) + elif self._state == OnboardingState.SUNNYLINK_CONSENT: + self._sunnylink.render(self._rect) + if self._sunnylink.completed: + if not self._training_done: + self._state = OnboardingState.ONBOARDING + else: + self.close() elif self._state == OnboardingState.ONBOARDING: - self._training_guide.render(self._rect) + if not self._training_done: + self._training_guide.render(self._rect) + else: + self.close() elif self._state == OnboardingState.DECLINE: self._decline_page.render(self._rect) return -1 diff --git a/selfdrive/ui/sunnypilot/layouts/onboarding.py b/selfdrive/ui/sunnypilot/layouts/onboarding.py new file mode 100644 index 0000000000..9ba9f07494 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/onboarding.py @@ -0,0 +1,116 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import FontWeight +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.button import Button, ButtonStyle +from openpilot.system.ui.widgets.label import Label +from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined + + +class SunnylinkConsentPage(Widget): + def __init__(self, done_callback=None): + super().__init__() + self._done_callback = done_callback + self._step = 0 + + self._title = Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT) + + self._content = [ + { + "text": tr("sunnylink enables secured remote access to your comma device from anywhere, " + + "including settings management, remote monitoring, real-time dashboard, etc."), + "primary_btn": tr("Enable"), + "secondary_btn": tr("Disable"), + "highlight_primary": True + }, + { + "text": tr("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " + + "If sunnylink is disabled, features such as settings management, remote monitoring, " + + "real-time dashboards will be unavailable."), + "secondary_btn": tr("Back"), + "danger_btn": tr("Disable"), + "highlight_primary": True + } + ] + + self._primary_btn = Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable")) + self._secondary_btn = Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary")) + self._danger_btn = Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable")) + + def _handle_choice(self, choice): + if choice == "enable": + ui_state.params.put_bool("SunnylinkEnabled", True) + ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) + if self._done_callback: + self._done_callback() + elif choice == "secondary": + if self._step == 0: + self._step = 1 + elif self._step == 1: + self._step = 0 + elif choice == "disable": + ui_state.params.put_bool("SunnylinkEnabled", False) + ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined) + if self._done_callback: + self._done_callback() + + def _render(self, _): + step_data = self._content[self._step] + + welcome_x = self._rect.x + 95 + welcome_y = self._rect.y + 165 + welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90) + self._title.render(welcome_rect) + + desc_x = welcome_x + desc_y = welcome_y + 120 + desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250) + + desc_label = Label(step_data["text"], font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT) + desc_label.render(desc_rect) + + btn_y = self._rect.y + self._rect.height - 160 - 45 + + if "danger_btn" in step_data: + btn_width = (self._rect.width - 45 * 3) / 2 + + self._secondary_btn.set_text(step_data["secondary_btn"]) + self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160)) + + self._danger_btn.set_text(step_data["danger_btn"]) + self._danger_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160)) + + else: + btn_width = (self._rect.width - 45 * 3) / 2 + + self._secondary_btn.set_text(step_data["secondary_btn"]) + self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160)) + + self._primary_btn.set_text(step_data["primary_btn"]) + self._primary_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160)) + + return -1 + + +class SunnylinkOnboarding: + def __init__(self): + self.consent_page = SunnylinkConsentPage(done_callback=self._on_done) + self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined} + + @property + def completed(self) -> bool: + return self.consent_done + + def _on_done(self): + self.consent_done = True + + def render(self, rect): + if not self.consent_done: + self.consent_page.render(rect) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py index 2b5497fb56..00baf0cccf 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py @@ -4,23 +4,23 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ +import pyray as rl from cereal import custom +from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog +from openpilot.system.ui.widgets import Widget, DialogResult from openpilot.system.ui.widgets.button import ButtonStyle, Button from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog from openpilot.system.ui.widgets.label import UnifiedLabel -from openpilot.system.ui.widgets.list_view import button_item, dual_button_item +from openpilot.system.ui.widgets.list_view import dual_button_item from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator -from openpilot.system.ui.widgets import Widget, DialogResult -from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp -import pyray as rl - -if gui_app.sunnypilot_ui(): - from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item +from openpilot.system.version import sunnylink_consent_version class SunnylinkHeader(Widget): @@ -160,14 +160,14 @@ class SunnylinkLayout(Widget): self._sunnylink_description = SunnylinkDescriptionItem() self._sunnylink_description.set_visible(False) - self._sponsor_btn = button_item( + self._sponsor_btn = button_item_sp( title=tr("Sponsor Status"), button_text=tr("SPONSOR"), description=tr( "Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."), callback=lambda: self._handle_pair_btn(False) ) - self._pair_btn = button_item( + self._pair_btn = button_item_sp( title=tr("Pair GitHub Account"), button_text=tr("Not Paired"), description=tr( @@ -302,6 +302,22 @@ class SunnylinkLayout(Widget): self._restore_btn.set_text(tr("Restore Settings")) def _sunnylink_toggle_callback(self, state: bool): + sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version + sl_enabled: bool = ui_state.params.get_bool("SunnylinkEnabled") + + if state and not sl_consent and not sl_enabled: + def on_consent_done(): + enabled = ui_state.params.get_bool("SunnylinkEnabled") + self._update_description(enabled) + gui_app.set_modal_overlay(None) + + sl_terms_dlg = SunnylinkConsentPage(done_callback=on_consent_done) + gui_app.set_modal_overlay(sl_terms_dlg) + else: + ui_state.params.put_bool("SunnylinkEnabled", state) + self._update_description(state) + + def _update_description(self, state: bool): if state: description = tr( "Welcome back!! We're excited to see you've enabled sunnylink again!") diff --git a/selfdrive/ui/sunnypilot/mici/__init__.py b/selfdrive/ui/sunnypilot/mici/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py new file mode 100644 index 0000000000..930853e55c --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py @@ -0,0 +1,97 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +from openpilot.system.ui.lib.application import FontWeight, gui_app +from openpilot.system.ui.widgets.label import UnifiedLabel +from openpilot.system.ui.widgets.slider import SmallSlider +from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage +from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined +from openpilot.selfdrive.ui.ui_state import ui_state + + +class SunnylinkConsentPage(SetupTermsPage): + def __init__(self, on_accept=None, on_decline=None, left_text: str = "disable", right_text: str = "enable"): + super().__init__(on_accept, on_decline, left_text, continue_text=right_text) + + self._title_header = TermsHeader("sunnylink", + gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 66, 60)) + + self._terms_label = UnifiedLabel("sunnylink enables secured remote access to your comma device from anywhere, " + + "including settings management, remote monitoring, real-time dashboard, etc.", + 36, FontWeight.ROMAN) + + @property + def _content_height(self): + return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset() + + def _render(self, _): + super()._render(_) + return -1 + + def _render_content(self, scroll_offset): + self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset) + self._title_header.render() + + self._terms_label.render(rl.Rectangle( + self._rect.x + 16, + self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING, + self._rect.width - 100, + self._terms_label.get_content_height(int(self._rect.width - 100)), + )) + + +class SunnylinkConsentDisableConfirmPage(SunnylinkConsentPage): + def __init__(self, on_accept=None, on_decline=None): + super().__init__(on_accept=on_decline, on_decline=on_accept, left_text="enable", right_text="disable") + + # we flip the continue & disable buttons to use slider for disable + self._continue_slider = True + self._continue_button = SmallSlider("disable", confirm_callback=on_decline) + self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed) + + self._title_header = TermsHeader("disable sunnylink?", + gui_app.texture("icons_mici/setup/red_warning.png", 66, 60)) + + self._terms_label = UnifiedLabel("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " + + "If sunnylink is disabled, features such as settings management, " + + "remote monitoring, real-time dashboards will be unavailable.", + 36, FontWeight.ROMAN) + + +class SunnylinkOnboarding: + def __init__(self): + self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined} + self.disable_confirm = False + + self.consent_page = SunnylinkConsentPage(on_decline=self._on_decline, on_accept=self._on_accept) + self.confirm_page = SunnylinkConsentDisableConfirmPage(on_decline=self._on_confirm_decline, on_accept=self._on_accept) + + @property + def completed(self) -> bool: + return self.consent_done + + def _on_accept(self): + ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) + ui_state.params.put_bool("SunnylinkEnabled", True) + self.consent_done = True + + def _on_decline(self): + self.disable_confirm = True + + def _on_confirm_decline(self): + ui_state.params.put_bool("SunnylinkEnabled", False) + ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined) + self.consent_done = True + + def render(self, rect): + if self.consent_done: + return + + if self.disable_confirm: + self.confirm_page.render(rect) + else: + self.consent_page.render(rect) diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py index 2ab035c1cf..172ef7d2f8 100644 --- a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py +++ b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py @@ -8,16 +8,17 @@ from collections.abc import Callable import pyray as rl from cereal import custom -from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2 -from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog -from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID -from openpilot.system.ui.lib.multilang import tr - -from openpilot.system.ui.widgets.scroller import Scroller from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle -from openpilot.system.ui.lib.application import gui_app, MousePos -from openpilot.system.ui.widgets import NavWidget +from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2 +from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage +from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID +from openpilot.system.ui.lib.application import gui_app, MousePos +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.widgets.scroller import Scroller +from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined class SunnylinkLayoutMici(NavWidget): @@ -28,9 +29,9 @@ class SunnylinkLayoutMici(NavWidget): self._backup_in_progress = False self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled") - self._sunnylink_toggle = BigToggle(text="", + self._sunnylink_toggle = BigToggle(text=tr("enable sunnylink"), initial_state=self._sunnylink_enabled, - toggle_callback=SunnylinkLayoutMici._sunnylink_toggle_callback) + toggle_callback=self._sunnylink_toggle_callback) self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False) self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True) self._backup_btn = BigButton(tr("backup settings"), "", "") @@ -38,7 +39,7 @@ class SunnylinkLayoutMici(NavWidget): self._restore_btn = BigButton(tr("restore settings"), "", "") self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True)) self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False, - toggle_callback=SunnylinkLayoutMici._sunnylink_uploader_callback) + toggle_callback=self._sunnylink_uploader_callback) self._scroller = Scroller([ self._sunnylink_toggle, @@ -51,8 +52,8 @@ class SunnylinkLayoutMici(NavWidget): def _update_state(self): super()._update_state() - self._sunnylink_enabled = ui_state.sunnylink_enabled - self._sunnylink_toggle.set_text(tr("enable sunnylink")) + self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled") + self._sunnylink_toggle.set_checked(self._sunnylink_enabled) self._sunnylink_pair_button.set_visible(self._sunnylink_enabled) self._sunnylink_sponsor_button.set_visible(self._sunnylink_enabled) self._backup_btn.set_visible(self._sunnylink_enabled) @@ -83,7 +84,25 @@ class SunnylinkLayoutMici(NavWidget): @staticmethod def _sunnylink_toggle_callback(state: bool): - ui_state.params.put_bool("SunnylinkEnabled", state) + sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version + sl_enabled: bool = ui_state.params.get("SunnylinkEnabled") + + def sl_terms_accepted(): + ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) + ui_state.params.put_bool("SunnylinkEnabled", True) + gui_app.set_modal_overlay(None) + + def sl_terms_declined(): + ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined) + ui_state.params.put_bool("SunnylinkEnabled", False) + gui_app.set_modal_overlay(None) + + if state and not sl_consent and not sl_enabled: + sl_terms_dlg = SunnylinkConsentPage(on_accept=sl_terms_accepted, on_decline=sl_terms_declined) + gui_app.set_modal_overlay(sl_terms_dlg) + else: + ui_state.params.put_bool("SunnylinkEnabled", state) + ui_state.update_params() @staticmethod diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py index 9da157660e..ce24bf9190 100755 --- a/selfdrive/ui/tests/diff/replay.py +++ b/selfdrive/ui/tests/diff/replay.py @@ -13,7 +13,7 @@ if "RECORD_OUTPUT" not in os.environ: os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"]) from openpilot.common.params import Params -from openpilot.system.version import terms_version, training_version +from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout @@ -45,6 +45,8 @@ def setup_state(): params.put("CompletedTrainingVersion", training_version) params.put("DongleId", "test123456789") params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30") + params.put("HasAcceptedTermsSP", terms_version_sp) + params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) return None diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py index e209ab8060..cd27b1c12f 100755 --- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py +++ b/selfdrive/ui/tests/test_ui/raylib_screenshots.py @@ -18,7 +18,7 @@ from openpilot.common.prefix import OpenpilotPrefix from openpilot.selfdrive.test.helpers import with_processes from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.updated.updated import parse_release_notes -from openpilot.system.version import terms_version, training_version +from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version AlertSize = log.SelfdriveState.AlertSize AlertStatus = log.SelfdriveState.AlertStatus @@ -378,6 +378,8 @@ def create_screenshots(): # Set terms and training version (to skip onboarding) params.put("HasAcceptedTerms", terms_version) params.put("CompletedTrainingVersion", training_version) + params.put("HasAcceptedTermsSP", terms_version_sp) + params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) if name == "homescreen_paired": params.put("PrimeType", 0) # NONE diff --git a/sunnypilot/selfdrive/assets/logo.png b/sunnypilot/selfdrive/assets/logo.png new file mode 100644 index 0000000000..690cf7fb70 --- /dev/null +++ b/sunnypilot/selfdrive/assets/logo.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66b3aefa108dd0c7f64205a11e424430c318e6fd06de31b5550d0b9d05616e6a +size 19035 diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py index d1a03778c6..73fa42e714 100755 --- a/sunnypilot/sunnylink/athena/sunnylinkd.py +++ b/sunnypilot/sunnylink/athena/sunnylinkd.py @@ -42,10 +42,14 @@ METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__f params = Params() -# Parameters that should never be remotely modified for security reasons +# Parameters that should never be remotely modified BLOCKED_PARAMS = { + "CompletedSunnylinkConsentVersion", + "CompletedTrainingVersion", "GithubUsername", # Could grant SSH access "GithubSshKeys", # Direct SSH key injection + "HasAcceptedTerms", + "HasAcceptedTermsSP", } diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index f335457fb5..95a143ea66 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -165,6 +165,10 @@ "title": "Chevron Info", "description": "" }, + "CompletedSunnylinkConsentVersion": { + "title": "Completed sunnylink Consent Version", + "description": "" + }, "CompletedTrainingVersion": { "title": "Completed Training Version", "description": "" @@ -349,6 +353,10 @@ "title": "Has Accepted Terms", "description": "" }, + "HasAcceptedTermsSP": { + "title": "Has Accepted sunnypilot Terms", + "description": "" + }, "HideVEgoUI": { "title": "Hide vEgo UI", "description": "" diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 1d1893a8c5..1179914d0d 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -23,7 +23,7 @@ from openpilot.system.statsd import statlog from openpilot.common.swaglog import cloudlog from openpilot.system.hardware.power_monitoring import PowerMonitoring from openpilot.system.hardware.fan_controller import TiciFanController -from openpilot.system.version import terms_version, training_version, get_build_metadata +from openpilot.system.version import terms_version, training_version, get_build_metadata, terms_version_sp ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType @@ -310,6 +310,7 @@ def hardware_thread(end_event, hw_queue) -> None: startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version + startup_conditions["accepted_terms_sp"] = params.get("HasAcceptedTermsSP") == terms_version_sp # with 2% left, we killall, otherwise the phone will take a long time to boot startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 diff --git a/system/version.py b/system/version.py index 8a0e2da3e2..ae6ac1b13a 100755 --- a/system/version.py +++ b/system/version.py @@ -30,6 +30,9 @@ BUILD_METADATA_FILENAME = "build.json" training_version: str = "0.2.0" terms_version: str = "2" +terms_version_sp: str = "1.0" +sunnylink_consent_version: str = "1.0" +sunnylink_consent_declined: str = "-1" def get_version(path: str = BASEDIR) -> str: From 19a7d1d5d71a857d942835e27ee195c09cc54414 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Tue, 30 Dec 2025 22:27:53 -0700 Subject: [PATCH 040/144] [TIZI/TICI] ui: update dmoji position and Developer UI adjustments (#1601) * ui: improve layout and centering of bottom developer UI elements * int * less is more, y'all * always show actual lat for all cars * lint * perfect * cleanup * too long * inherit * remove unused * inir * need to fix * final --------- Co-authored-by: Jason Wen --- selfdrive/ui/onroad/augmented_road_view.py | 1 + .../onroad/developer_ui/__init__.py | 51 +++++++++++++------ .../onroad/developer_ui/elements.py | 21 ++++++++ .../ui/sunnypilot/onroad/driver_state.py | 49 ++++++++++++++++++ 4 files changed, 107 insertions(+), 15 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/onroad/driver_state.py diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index 1d66379f93..a1d10193a8 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -16,6 +16,7 @@ from openpilot.common.transformations.orientation import rot_from_euler if gui_app.sunnypilot_ui(): from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer + from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py index 14a224ae77..441a169d23 100644 --- a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py +++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py @@ -22,6 +22,7 @@ class DeveloperUiRenderer(Widget): DEV_UI_RIGHT = 1 DEV_UI_BOTTOM = 2 DEV_UI_BOTH = 3 + BOTTOM_BAR_HEIGHT = 61 def __init__(self): super().__init__() @@ -43,6 +44,12 @@ class DeveloperUiRenderer(Widget): self.bearing_elem = BearingDegElement() self.altitude_elem = AltitudeElement() + @staticmethod + def get_bottom_dev_ui_offset(): + if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH): + return DeveloperUiRenderer.BOTTOM_BAR_HEIGHT + return 0 + def _update_state(self) -> None: self.dev_ui_mode = ui_state.developer_ui @@ -78,10 +85,11 @@ class DeveloperUiRenderer(Widget): ] if controls_state.lateralControlState.which() == 'torqueState': elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric)) - elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric)) else: elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric)) + elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric)) + current_y = y for element in elements: current_y += self._draw_right_dev_ui_element(x, current_y, element) @@ -105,7 +113,7 @@ class DeveloperUiRenderer(Widget): if element.unit: units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x - units_x = x + container_width - 10 + units_x = x + container_width units_y = y + (value_size / 2) + (units_height / 2) rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE) @@ -143,22 +151,35 @@ class DeveloperUiRenderer(Widget): if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']: elements.append(self.altitude_elem.update(sm, ui_state.is_metric)) - current_x = int(rect.x + 90) - center_y = y + bar_height // 2 - for element in elements: - current_x += self._draw_bottom_dev_ui_element(current_x, center_y, element) + if not elements: + return - def _draw_bottom_dev_ui_element(self, x: int, y: int, element: UiElement) -> int: font_size = 38 + element_widths = [] + for element in elements: + element.measure(self._font_bold, font_size) + element_widths.append(element.total_width) - label_text = f"{element.label} " - label_width = measure_text_cached(self._font_bold, label_text, font_size, 0).x - rl.draw_text_ex(self._font_bold, label_text, rl.Vector2(x, y - font_size // 2), font_size, 0, rl.WHITE) + total_element_width = sum(element_widths) + num_gaps = len(elements) + 1 + available_width = rect.width + gap_width = (available_width - total_element_width) / num_gaps - value_width = measure_text_cached(self._font_bold, element.value, font_size, 0).x - rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(x + label_width + 10, y - font_size // 2), font_size, 0, element.color) + center_y = y + bar_height // 2 + current_x = rect.x + gap_width + + for i, element in enumerate(elements): + element_center_x = int(current_x + element_widths[i] / 2) + self._draw_bottom_dev_ui_element(element_center_x, center_y, element) + current_x += element_widths[i] + gap_width + + def _draw_bottom_dev_ui_element(self, center_x: int, y: int, element: UiElement) -> None: + font_size = 38 + start_x = center_x - element.total_width / 2 + + rl.draw_text_ex(self._font_bold, element.label_text, rl.Vector2(start_x, y - font_size // 2), font_size, 0, rl.WHITE) + rl.draw_text_ex(self._font_bold, element.val_text, rl.Vector2(start_x + element.label_width, y - font_size // 2), font_size, 0, element.color) if element.unit: - rl.draw_text_ex(self._font_bold, element.unit, rl.Vector2(x + label_width + value_width + 20, y - font_size // 2), font_size, 0, rl.WHITE) - - return 400 + rl.draw_text_ex(self._font_bold, element.unit_text, rl.Vector2(start_x + element.label_width + element.val_width, y - font_size // 2), + font_size, 0, rl.WHITE) diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py index e8daca8868..652469bddd 100644 --- a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py +++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py @@ -10,12 +10,33 @@ from dataclasses import dataclass from openpilot.common.constants import CV +from openpilot.system.ui.lib.text_measure import measure_text_cached + + @dataclass class UiElement: value: str label: str unit: str color: rl.Color + val_text: str = "" + label_text: str = "" + unit_text: str = "" + val_width: float = 0.0 + label_width: float = 0.0 + unit_width: float = 0.0 + total_width: float = 0.0 + + def measure(self, font, font_size: int): + self.label_text = f"{self.label} " + self.val_text = self.value + self.unit_text = f" {self.unit}" if self.unit else "" + + self.label_width = measure_text_cached(font, self.label_text, font_size, 0).x + self.val_width = measure_text_cached(font, self.val_text, font_size, 0).x + self.unit_width = measure_text_cached(font, self.unit_text, font_size, 0).x if self.unit else 0 + + self.total_width = self.label_width + self.val_width + self.unit_width class LeadInfoElement: diff --git a/selfdrive/ui/sunnypilot/onroad/driver_state.py b/selfdrive/ui/sunnypilot/onroad/driver_state.py new file mode 100644 index 0000000000..4f2d264ee2 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/driver_state.py @@ -0,0 +1,49 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import numpy as np + +from openpilot.selfdrive.ui import UI_BORDER_SIZE +from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer, BTN_SIZE, ARC_LENGTH +from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer + + +class DriverStateRendererSP(DriverStateRenderer): + def __init__(self): + super().__init__() + self.dev_ui_offset = DeveloperUiRenderer.get_bottom_dev_ui_offset() + + def _pre_calculate_drawing_elements(self): + """Pre-calculate all drawing elements based on the current rectangle""" + # Calculate icon position (bottom-left or bottom-right) + width, height = self._rect.width, self._rect.height + offset = UI_BORDER_SIZE + BTN_SIZE // 2 + self.position_x = self._rect.x + (width - offset if self.is_rhd else offset) + self.position_y = self._rect.y + height - offset - self.dev_ui_offset + + # Pre-calculate the face lines positions + positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y]) + for i in range(len(positioned_keypoints)): + self.face_lines[i].x = positioned_keypoints[i][0] + self.face_lines[i].y = positioned_keypoints[i][1] + + # Calculate arc dimensions based on head rotation + delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0 # Horizontal movement + delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0 # Vertical movement + + # Horizontal arc + h_width = abs(delta_x) + self.h_arc_data = self._calculate_arc_data( + delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2, + self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True + ) + + # Vertical arc + v_height = abs(delta_y) + self.v_arc_data = self._calculate_arc_data( + delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y, + self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False + ) From 84b1f363e42293104b4d56ed5b07f549fce381cf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 31 Dec 2025 12:43:36 -0800 Subject: [PATCH 041/144] Alert for stock LKAS (#36969) * alert stock lkas * high * i didn't do this --- cereal/log.capnp | 1 + selfdrive/car/car_specific.py | 2 ++ selfdrive/selfdrived/events.py | 9 +++++++++ 3 files changed, 12 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index 3a6432c84d..2f300881b1 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 { laneChange @50; lowMemory @51; stockAeb @52; + stockLkas @98; ldw @53; carUnrecognized @54; invalidLkasSetting @55; diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index cdeeebdcd5..bc903ec083 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -119,6 +119,8 @@ class CarSpecificEvents: events.add(EventName.stockFcw) if CS.stockAeb: events.add(EventName.stockAeb) + if CS.stockLkas: + events.add(EventName.stockLkas) if CS.vEgo > MAX_CTRL_SPEED: events.add(EventName.speedTooHigh) if CS.cruiseState.nonAdaptive: diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 1acfa2964e..35d4bda42f 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -477,6 +477,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"), }, + EventName.stockLkas: { + ET.PERMANENT: Alert( + "TAKE CONTROL", + "Stock LKAS: Lane Departure Detected", + AlertStatus.critical, AlertSize.full, + Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.), + ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"), + }, + EventName.fcw: { ET.PERMANENT: Alert( "BRAKE!", From a30fc9bcd2d044e3f11b102fc443da5d15a7d314 Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Thu, 1 Jan 2026 12:23:01 -0700 Subject: [PATCH 042/144] modeld: configurable camera offset (#1614) * modeld: configurable camera offset Negative Values: Shears the image to the left, moving the models center to the Right. Positive Value: Shears the image to the right, moving the models center to the Left. * modeld: camera offset class * verify zero offset I @ A = A * slithered and slunked * Update params_metadata.json * wait * Update model_renderer.py * Update model_renderer.py * requested changes * stricter * Update model_renderer.py * more * return default * Update params_metadata.json * final --------- Co-authored-by: Jason Wen --- common/params_keys.h | 1 + selfdrive/ui/mici/onroad/model_renderer.py | 15 +++- selfdrive/ui/onroad/model_renderer.py | 15 ++-- selfdrive/ui/sunnypilot/ui_state.py | 1 + sunnypilot/modeld/modeld.py | 4 + sunnypilot/modeld_v2/camera_offset_helper.py | 39 +++++++++ sunnypilot/modeld_v2/modeld.py | 7 +- .../tests/test_camera_offset_helper.py | 84 +++++++++++++++++++ sunnypilot/sunnylink/params_metadata.json | 7 ++ 9 files changed, 162 insertions(+), 11 deletions(-) create mode 100644 sunnypilot/modeld_v2/camera_offset_helper.py create mode 100644 sunnypilot/modeld_v2/tests/test_camera_offset_helper.py diff --git a/common/params_keys.h b/common/params_keys.h index 054ce97e6d..a559d411e4 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -221,6 +221,7 @@ inline static std::unordered_map keys = { {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}}, // sunnypilot model params + {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}}, {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}}, {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}}, {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}}, diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py index db316aa636..0908de0bf4 100644 --- a/selfdrive/ui/mici/onroad/model_renderer.py +++ b/selfdrive/ui/mici/onroad/model_renderer.py @@ -80,6 +80,9 @@ class ModelRenderer(Widget): self._transform_dirty = True self._clip_region = None + self._counter = -1 + self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0 + self._exp_gradient = Gradient( start=(0.0, 1.0), # Bottom of path end=(0.0, 0.0), # Top of path @@ -99,6 +102,10 @@ class ModelRenderer(Widget): def _render(self, rect: rl.Rectangle): sm = ui_state.sm + if self._counter % 180 == 0: # This runs at 60fps, so we query every 3 seconds + self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0 + self._counter += 1 + self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque) # Check if data is up-to-date @@ -150,13 +157,13 @@ class ModelRenderer(Widget): def _update_raw_points(self, model): """Update raw 3D points from model data""" - self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T + self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T for i, lane_line in enumerate(model.laneLines): - self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T + self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T for i, road_edge in enumerate(model.roadEdges): - self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T + self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32) self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32) @@ -174,7 +181,7 @@ class ModelRenderer(Widget): # Get z-coordinate from path at the lead vehicle position z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0 - point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z) + point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z) if point: self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index cae9765341..353cc5aa40 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -56,7 +56,8 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP): self._road_edge_stds = np.zeros(2, dtype=np.float32) self._lead_vehicles = [LeadVehicle(), LeadVehicle()] self._path_offset_z = HEIGHT_INIT[0] - + self._counter = -1 + self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0 # Initialize ModelPoints objects self._path = ModelPoints() self._lane_lines = [ModelPoints() for _ in range(4)] @@ -103,6 +104,10 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP): live_calib = sm['liveCalibration'] self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0] + if self._counter % 60 == 0: + self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0 + self._counter += 1 + if sm.updated['carParams']: self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl @@ -136,13 +141,13 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP): def _update_raw_points(self, model): """Update raw 3D points from model data""" - self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T + self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T for i, lane_line in enumerate(model.laneLines): - self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T + self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T for i, road_edge in enumerate(model.roadEdges): - self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T + self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32) self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32) @@ -160,7 +165,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP): # Get z-coordinate from path at the lead vehicle position z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0 - point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z) + point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z) if point: self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index ca8125512a..21ed78b096 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -73,6 +73,7 @@ class UIStateSP: self.developer_ui = self.params.get("DevUIInfo") self.rainbow_path = self.params.get_bool("RainbowMode") self.chevron_metrics = self.params.get("ChevronInfo") + self.active_bundle = self.params.get("ModelManager_ActiveBundle") class DeviceSP: diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py index 3d11ed23f4..b36aea405a 100755 --- a/sunnypilot/modeld/modeld.py +++ b/sunnypilot/modeld/modeld.py @@ -24,6 +24,7 @@ from openpilot.sunnypilot.livedelay.helpers import get_lat_delay from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime from openpilot.sunnypilot.modeld.parse_model_outputs import Parser from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState +from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext @@ -195,6 +196,7 @@ def main(demo=False): buf_main, buf_extra = None, None meta_main = FrameMeta() meta_extra = FrameMeta() + camera_offset_helper = CameraOffsetHelper() if demo: @@ -250,12 +252,14 @@ def main(demo=False): frame_id = sm["roadCameraState"].frameId if sm.frame % 60 == 0: model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay) + camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True)) lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32) model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32) + model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera) live_calib_seen = True traffic_convention = np.zeros(2) diff --git a/sunnypilot/modeld_v2/camera_offset_helper.py b/sunnypilot/modeld_v2/camera_offset_helper.py new file mode 100644 index 0000000000..7502c3eeb0 --- /dev/null +++ b/sunnypilot/modeld_v2/camera_offset_helper.py @@ -0,0 +1,39 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import numpy as np + +from openpilot.common.transformations.camera import DEVICE_CAMERAS + + +class CameraOffsetHelper: + def __init__(self): + self.camera_offset = 0.0 + self.actual_camera_offset = 0.0 + + @staticmethod + def apply_camera_offset(model_transform, intrinsics, height, offset_param): + cy = intrinsics[1, 2] + shear = np.eye(3, dtype=np.float32) + shear[0, 1] = offset_param / height + shear[0, 2] = -offset_param / height * cy + model_transform = (shear @ model_transform).astype(np.float32) + return model_transform + + def set_offset(self, offset): + self.camera_offset = offset + + def update(self, model_transform_main, model_transform_extra, sm, main_wide_camera): + self.actual_camera_offset = (0.9 * self.actual_camera_offset) + (0.1 * self.camera_offset) + dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] + height = sm["liveCalibration"].height[0] if sm['liveCalibration'].height else 1.22 + + intrinsics_main = dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics + model_transform_main = self.apply_camera_offset(model_transform_main, intrinsics_main, height, self.actual_camera_offset) + + intrinsics_extra = dc.ecam.intrinsics + model_transform_extra = self.apply_camera_offset(model_transform_extra, intrinsics_extra, height, self.actual_camera_offset) + return model_transform_main, model_transform_extra diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py index b3b1d35fd9..be0724db0d 100755 --- a/sunnypilot/modeld_v2/modeld.py +++ b/sunnypilot/modeld_v2/modeld.py @@ -21,6 +21,7 @@ from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_p from openpilot.sunnypilot.modeld_v2.constants import Plan from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants +from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper from openpilot.sunnypilot.livedelay.helpers import get_lat_delay from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase @@ -230,6 +231,7 @@ def main(demo=False): buf_main, buf_extra = None, None meta_main = FrameMeta() meta_extra = FrameMeta() + camera_offset_helper = CameraOffsetHelper() if demo: @@ -285,13 +287,14 @@ def main(demo=False): if sm.frame % 60 == 0: model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay) model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True) + camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True)) lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] - model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, - False).astype(np.float32) + model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32) model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32) + model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera) live_calib_seen = True traffic_convention = np.zeros(2) diff --git a/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py b/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py new file mode 100644 index 0000000000..f25bcd0a35 --- /dev/null +++ b/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py @@ -0,0 +1,84 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import numpy as np + +from openpilot.common.transformations.camera import DEVICE_CAMERAS +from openpilot.common.transformations.model import get_warp_matrix +from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper + + +class MockStruct: + def __init__(self, **kwargs): + for k, v in kwargs.items(): + setattr(self, k, v) + + def __getitem__(self, item): + return getattr(self, item) + + +class TestCameraOffset: + def setup_method(self): + self.camera_offset = CameraOffsetHelper() + self.dc = DEVICE_CAMERAS[('mici', 'os04c10')] + + def test_smoothing(self): + self.camera_offset.set_offset(0.2) + + sm = MockStruct( + deviceState=MockStruct(deviceType='mici'), + roadCameraState=MockStruct(sensor='os04c10'), + liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22]) + ) + + intrinsics_main = self.dc.fcam.intrinsics + intrinsics_extra = self.dc.ecam.intrinsics + device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32) + main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32) + extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32) + + self.camera_offset.update(main_transform, extra_transform, sm, False) + np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.02) + self.camera_offset.update(main_transform, extra_transform, sm, False) + np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038) + + def test_camera_offset_(self): + intrinsics = self.dc.fcam.intrinsics + transform = np.eye(3, dtype=np.float32) + height = 1.22 + offset = 0.1 + + cy = intrinsics[1, 2] + expected_shear = np.eye(3, dtype=np.float32) + expected_shear[0, 1] = offset / height + expected_shear[0, 2] = -offset / height * cy + + result = CameraOffsetHelper.apply_camera_offset(transform, intrinsics, height, offset) + np.testing.assert_array_almost_equal(result, expected_shear) + + def test_update(self): + sm = MockStruct( + deviceState=MockStruct(deviceType='mici'), + roadCameraState=MockStruct(sensor='os04c10'), + liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22]) + ) + intrinsics_main = self.dc.fcam.intrinsics + intrinsics_extra = self.dc.ecam.intrinsics + device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32) + main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32) + extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32) + + self.camera_offset.set_offset(0.0) # test default offset doesn't change transformation + main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False) + np.testing.assert_array_equal(main_out, main_transform) + np.testing.assert_array_equal(extra_out, extra_transform) + + self.camera_offset.set_offset(0.2) # test valid offset changes transformation + main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False) + assert not np.array_equal(main_out, main_transform) + assert not np.array_equal(extra_out, extra_transform) + assert main_out[0, 1] != 0.0 + assert main_out[0, 2] != 0.0 diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index 95a143ea66..cccf98d796 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -121,6 +121,13 @@ "title": "Camera Debug Exp Time", "description": "" }, + "CameraOffset": { + "title": "Adjust Camera Offset on non Default Model", + "description": "Adjust this to center the car in its lane by virtually shifting the camera's perspective. Negative Values: Shears the image to the left, moving the model's center to the Right; Positive Values: Shears the image to the right, moving the model's center to the Left. Note: these values are in meters.", + "min": -0.35, + "max": 0.35, + "step": 0.01 + }, "CarBatteryCapacity": { "title": "Car Battery Capacity", "description": "" From bb40d161e8d24f3e4c4835603610ea669ab00154 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 1 Jan 2026 20:13:18 -0300 Subject: [PATCH 043/144] Add back badges for keep multilanguage support (#36967) --- selfdrive/ui/translations/README.md | 3 +++ 1 file changed, 3 insertions(+) create mode 100644 selfdrive/ui/translations/README.md diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md new file mode 100644 index 0000000000..433eb7d64a --- /dev/null +++ b/selfdrive/ui/translations/README.md @@ -0,0 +1,3 @@ +# Multilanguage + +[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#) From f62177a8274ac75b82011d1a7ae57f8458c85091 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 1 Jan 2026 19:06:31 -0800 Subject: [PATCH 044/144] FrameReader: use hwaccel auto (#36973) * FrameReader: use hwaccel auto * rm main block --- tools/lib/framereader.py | 46 ++++++++++++---------------------------- 1 file changed, 13 insertions(+), 33 deletions(-) diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 64e2f9f434..7f55718776 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -2,7 +2,6 @@ import os import subprocess import json import logging -from functools import cache from collections.abc import Iterator from collections import OrderedDict @@ -17,19 +16,6 @@ HEVC_SLICE_B = 0 HEVC_SLICE_P = 1 HEVC_SLICE_I = 2 -@cache -def get_hw_accel() -> list[str]: - """Detect and return the best available ffmpeg hardware acceleration.""" - priority = ("videotoolbox", "cuda", "vaapi", "d3d11va") - result = subprocess.run(["ffmpeg", "-hwaccels"], capture_output=True, text=True, timeout=5) - for accel in priority: - if accel in result.stdout.lower(): - logger.info(f"HW accelerated video decode found, using ffmpeg's {accel}") - return ["-hwaccel", accel] - logger.warning("no HW accelerated video found with `ffmpeg -hwaccels`. falling back to ffmpeg CPU decode") - return [] - - class LRUCache: def __init__(self, capacity: int): self._cache: OrderedDict = OrderedDict() @@ -47,7 +33,6 @@ class LRUCache: def __contains__(self, key): return key in self._cache - def assert_hvec(fn: str) -> None: with FileReader(fn) as f: header = f.read(4) @@ -57,11 +42,11 @@ def assert_hvec(fn: str) -> None: if 'hevc' not in fn: raise NotImplementedError(fn) -def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.ndarray: +def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', loglevel="info") -> np.ndarray: threads = os.getenv("FFMPEG_THREADS", "0") - args = ["ffmpeg", "-v", "quiet", + args = ["ffmpeg", "-v", loglevel, "-threads", threads, - *get_hw_accel(), + "-hwaccel", "auto", "-c:v", "hevc", "-vsync", "0", "-f", vid_fmt, @@ -114,15 +99,15 @@ def get_video_index(fn): 'probe': probe } - class FfmpegDecoder: def __init__(self, fn: str, index_data: dict|None = None, - pix_fmt: str = "rgb24"): + pix_fmt: str = "rgb24", loglevel="quiet"): self.fn = fn self.index, self.prefix, self.w, self.h = get_index_data(fn, index_data) self.frame_count = len(self.index) - 1 # sentinel row at the end self.iframes = np.where(self.index[:, 0] == HEVC_SLICE_I)[0] self.pix_fmt = pix_fmt + self.loglevel = loglevel def _gop_bounds(self, frame_idx: int): f_b = frame_idx @@ -134,7 +119,7 @@ class FfmpegDecoder: return f_b, f_e, self.index[f_b, 1], self.index[f_e, 1] def _decode_gop(self, raw: bytes) -> Iterator[np.ndarray]: - yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt) + yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt, loglevel=self.loglevel) def get_gop_start(self, frame_idx: int): return self.iframes[np.searchsorted(self.iframes, frame_idx, side="right") - 1] @@ -149,7 +134,7 @@ class FfmpegDecoder: f.seek(off_b) raw = self.prefix + f.read(off_e - off_b) # number of frames to discard inside this GOP before the wanted one - for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt)): + for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt, loglevel=self.loglevel)): fidx = f_b + i if fidx >= end_fidx: return @@ -157,17 +142,16 @@ class FfmpegDecoder: yield fidx, frm fidx += 1 -def FrameIterator(fn: str, index_data: dict|None=None, - pix_fmt: str = "rgb24", - start_fidx:int=0, end_fidx=None, frame_skip:int=1) -> Iterator[np.ndarray]: - dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data) +def FrameIterator(fn: str, index_data: dict|None=None, pix_fmt: str = "rgb24", + start_fidx:int=0, end_fidx=None, frame_skip:int=1, loglevel="quiet") -> Iterator[np.ndarray]: + dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data, loglevel=loglevel) for _, frame in dec.get_iterator(start_fidx=start_fidx, end_fidx=end_fidx, frame_skip=frame_skip): yield frame class FrameReader: - def __init__(self, fn: str, index_data: dict|None = None, - cache_size: int = 30, pix_fmt: str = "rgb24"): - self.decoder = FfmpegDecoder(fn, index_data, pix_fmt) + def __init__(self, fn: str, index_data: dict|None = None, cache_size: int = 30, + pix_fmt: str = "rgb24", loglevel="quiet"): + self.decoder = FfmpegDecoder(fn, index_data, pix_fmt, loglevel=loglevel) self.iframes = self.decoder.iframes self._cache: LRUCache = LRUCache(cache_size) self.w, self.h, self.frame_count, = self.decoder.w, self.decoder.h, self.decoder.frame_count @@ -187,7 +171,3 @@ class FrameReader: self.fidx, frame = next(self.it) self._cache[self.fidx] = frame return self._cache[fidx] - - -if __name__ == "__main__": - get_hw_accel() From adbf68f77120b4568de68c37b8bed4ed433e01fe Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 2 Jan 2026 11:29:45 -0800 Subject: [PATCH 045/144] FrameReader: add hwaccel arg and clear frames_cache (#36974) --- tools/lib/framereader.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 7f55718776..c13f7fd313 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -42,11 +42,11 @@ def assert_hvec(fn: str) -> None: if 'hevc' not in fn: raise NotImplementedError(fn) -def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', loglevel="info") -> np.ndarray: +def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', hwaccel="auto", loglevel="info") -> np.ndarray: threads = os.getenv("FFMPEG_THREADS", "0") args = ["ffmpeg", "-v", loglevel, "-threads", threads, - "-hwaccel", "auto", + "-hwaccel", hwaccel, "-c:v", "hevc", "-vsync", "0", "-f", vid_fmt, @@ -101,13 +101,13 @@ def get_video_index(fn): class FfmpegDecoder: def __init__(self, fn: str, index_data: dict|None = None, - pix_fmt: str = "rgb24", loglevel="quiet"): + pix_fmt: str = "rgb24", hwaccel="auto", loglevel="quiet"): self.fn = fn self.index, self.prefix, self.w, self.h = get_index_data(fn, index_data) self.frame_count = len(self.index) - 1 # sentinel row at the end self.iframes = np.where(self.index[:, 0] == HEVC_SLICE_I)[0] self.pix_fmt = pix_fmt - self.loglevel = loglevel + self.loglevel, self.hwaccel = loglevel, hwaccel def _gop_bounds(self, frame_idx: int): f_b = frame_idx @@ -119,7 +119,7 @@ class FfmpegDecoder: return f_b, f_e, self.index[f_b, 1], self.index[f_e, 1] def _decode_gop(self, raw: bytes) -> Iterator[np.ndarray]: - yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt, loglevel=self.loglevel) + yield from decompress_video_data(raw, self.w, self.h, pix_fmt=self.pix_fmt, hwaccel=self.hwaccel, loglevel=self.loglevel) def get_gop_start(self, frame_idx: int): return self.iframes[np.searchsorted(self.iframes, frame_idx, side="right") - 1] @@ -134,7 +134,7 @@ class FfmpegDecoder: f.seek(off_b) raw = self.prefix + f.read(off_e - off_b) # number of frames to discard inside this GOP before the wanted one - for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt, loglevel=self.loglevel)): + for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt, hwaccel=self.hwaccel, loglevel=self.loglevel)): fidx = f_b + i if fidx >= end_fidx: return @@ -143,15 +143,15 @@ class FfmpegDecoder: fidx += 1 def FrameIterator(fn: str, index_data: dict|None=None, pix_fmt: str = "rgb24", - start_fidx:int=0, end_fidx=None, frame_skip:int=1, loglevel="quiet") -> Iterator[np.ndarray]: - dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data, loglevel=loglevel) + start_fidx:int=0, end_fidx=None, frame_skip:int=1, hwaccel="auto", loglevel="quiet") -> Iterator[np.ndarray]: + dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data, hwaccel=hwaccel, loglevel=loglevel) for _, frame in dec.get_iterator(start_fidx=start_fidx, end_fidx=end_fidx, frame_skip=frame_skip): yield frame class FrameReader: def __init__(self, fn: str, index_data: dict|None = None, cache_size: int = 30, - pix_fmt: str = "rgb24", loglevel="quiet"): - self.decoder = FfmpegDecoder(fn, index_data, pix_fmt, loglevel=loglevel) + pix_fmt: str = "rgb24", hwaccel="auto", loglevel="quiet"): + self.decoder = FfmpegDecoder(fn, index_data=index_data, pix_fmt=pix_fmt, hwaccel=hwaccel, loglevel=loglevel) self.iframes = self.decoder.iframes self._cache: LRUCache = LRUCache(cache_size) self.w, self.h, self.frame_count, = self.decoder.w, self.decoder.h, self.decoder.frame_count From 50b8ae9e09b2e5a428ff2b45d8c062a700602d26 Mon Sep 17 00:00:00 2001 From: Nayan Date: Sat, 3 Jan 2026 08:35:02 -0500 Subject: [PATCH 046/144] sunnylink: update params metadata (#1636) * sunnylink model controls * cleanup more controls * update verbiage Co-authored-by: DevTekVE --------- Co-authored-by: DevTekVE --- sunnypilot/sunnylink/params_metadata.json | 67 ++++++++++++----------- 1 file changed, 35 insertions(+), 32 deletions(-) diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index cccf98d796..f0ddbc9548 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -122,8 +122,8 @@ "description": "" }, "CameraOffset": { - "title": "Adjust Camera Offset on non Default Model", - "description": "Adjust this to center the car in its lane by virtually shifting the camera's perspective. Negative Values: Shears the image to the left, moving the model's center to the Right; Positive Values: Shears the image to the right, moving the model's center to the Left. Note: these values are in meters.", + "title": "Adjust Camera Offset", + "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)", "min": -0.35, "max": 0.35, "step": 0.01 @@ -193,7 +193,7 @@ "description": "" }, "CustomAccIncrementsEnabled": { - "title": "Custom ACC Increments Enabled", + "title": "Custom ACC Increments", "description": "" }, "CustomAccLongPressIncrement": { @@ -211,8 +211,8 @@ "step": 1 }, "CustomTorqueParams": { - "title": "Custom Torque Params", - "description": "" + "title": "Enable Custom Torque Tuning", + "description": "Enables custom tuning for Torque lateral control" }, "DevUIInfo": { "title": "Developer UI Info", @@ -286,7 +286,7 @@ }, "EnforceTorqueControl": { "title": "Enforce Torque Control", - "description": "" + "description": "Enable this to enforce sunnypilot to steer with Torque lateral control." }, "ExperimentalMode": { "title": "Experimental Mode", @@ -451,12 +451,15 @@ "description": "" }, "LagdToggle": { - "title": "LaGD Toggle", - "description": "" + "title": "Live Learning Steer Delay", + "description": "Allow device to learn and adapt car's steering response time" }, "LagdToggleDelay": { - "title": "LaGD Toggle Delay", - "description": "" + "title": "Manual Software Delay", + "description": "Software delay to use when Live Learning Steer Delay is toggled off", + "min": 0.05, + "max": 0.5, + "step": 0.01 }, "LagdValueCache": { "title": "LaGD Value Cache", @@ -464,11 +467,11 @@ }, "LaneTurnDesire": { "title": "Lane Turn Desire", - "description": "" + "description": "Force model to plan an intent to turn based on blinker" }, "LaneTurnValue": { - "title": "Lane Turn Value", - "description": "", + "title": "Lane Turn Speed", + "description": "Maximum speed for lane turn desire", "min": 0, "max": 20, "step": 1 @@ -546,12 +549,12 @@ "description": "" }, "LiveTorqueParamsRelaxedToggle": { - "title": "Live Torque Params Relaxed Toggle", - "description": "" + "title": "Less Restrict Settings for Self-Tune (Beta)", + "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values." }, "LiveTorqueParamsToggle": { - "title": "Live Torque Params Toggle", - "description": "" + "title": "Self-Tune", + "description": "Enables self-tune for Torque lateral control" }, "LocationFilterInitialState": { "title": "Location Filter Initial State", @@ -704,7 +707,7 @@ "description": "" }, "OffroadMode": { - "title": "Offroad Mode", + "title": "Force Offroad Mode", "description": "" }, "Offroad_CarUnrecognized": { @@ -768,18 +771,18 @@ "description": "" }, "OnroadScreenOffBrightness": { - "title": "Onroad Screen Off Brightness", + "title": "Onroad Brightness", "description": "", "min": 0, "max": 100, "step": 5 }, "OnroadScreenOffControl": { - "title": "Onroad Screen Off Control", - "description": "" + "title": "Onroad Screen: Reduced Brightness", + "description": "Turn off device screen or reduce brightness after driving starts" }, "OnroadScreenOffTimer": { - "title": "Onroad Screen Off Timer", + "title": "Onroad Brightness Delay", "description": "", "min": 0, "max": 60, @@ -885,7 +888,7 @@ "description": "" }, "RoadNameToggle": { - "title": "Road Name Toggle", + "title": "Display Road Name", "description": "" }, "RouteCount": { @@ -898,7 +901,7 @@ }, "ShowAdvancedControls": { "title": "Show Advanced Controls", - "description": "" + "description": "Enable to show advanced controls on device" }, "ShowDebugInfo": { "title": "UI Debug Mode", @@ -909,11 +912,11 @@ "description": "" }, "SmartCruiseControlMap": { - "title": "Smart Cruise Control Map", + "title": "Smart Cruise Control - Map", "description": "" }, "SmartCruiseControlVision": { - "title": "Smart Cruise Control Vision", + "title": "Smart Cruise Control - Vision", "description": "" }, "SnoozeUpdate": { @@ -921,7 +924,7 @@ "description": "" }, "SpeedLimitMode": { - "title": "Speed Limit Mode", + "title": "Speed Limit Assist Mode", "description": "", "options": [ { @@ -961,7 +964,7 @@ ] }, "SpeedLimitPolicy": { - "title": "Speed Limit Policy", + "title": "Speed Limit Source", "description": "", "options": [ { @@ -987,7 +990,7 @@ ] }, "SpeedLimitValueOffset": { - "title": "Speed Limit Value Offset", + "title": "Speed Limit Offset Value", "description": "", "min": -30, "max": 30, @@ -1042,18 +1045,18 @@ "description": "" }, "TorqueParamsOverrideEnabled": { - "title": "Torque Params Override Enabled", + "title": "Manual Real-Time Tuning", "description": "" }, "TorqueParamsOverrideFriction": { - "title": "Torque Params Override Friction", + "title": "Manual Tune - Friction", "description": "", "min": 0.0, "max": 1.0, "step": 0.01 }, "TorqueParamsOverrideLatAccelFactor": { - "title": "Torque Params Override Lat Accel Factor", + "title": "Manual Tune - Lateral Acceleration Factor", "description": "", "min": 0.1, "max": 5.0, From 9a04a5eaae0e5fea4cb7b5221d11aa68e2d0587d Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Sat, 3 Jan 2026 15:54:55 -0500 Subject: [PATCH 047/144] [bot] Update Python packages (#1565) * Update Python packages * no --------- Co-authored-by: github-actions[bot] Co-authored-by: Jason Wen --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 74ac678501..e03fbf9be8 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 74ac6785011b2861b822651f51d0cd2f01ce79d2 +Subproject commit e03fbf9be8d063ad8aee260a67338e1dadea8037 From 987f53e69a145a7c02567bdcefc09674f5042494 Mon Sep 17 00:00:00 2001 From: Copilot <198982749+Copilot@users.noreply.github.com> Date: Sat, 3 Jan 2026 21:01:21 -0500 Subject: [PATCH 048/144] [TIZI/TICI] ui: sunnylink status on sidebar (#1638) * Initial plan * feat: add sunnylink status metric Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * chore: extract sidebar constants Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * refactor: guard metric spacing Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * chore: clarify sunnylink helpers Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * refactor: guard metric spacing edge cases Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * chore: simplify spacing guards Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * chore: normalize sunnylink params Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * chore: harden sunnylink param parsing Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * chore: add param decode helper Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * chore: simplify sidebar metric spacing Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> * chore: update sunnylink status color logic for improved clarity * sunnylink: update status handling to reflect offline state and improve fault indication sunnylink: enhance status handling with temporary fault indication * sunnylink: enhance status update logic for improved accuracy and clarity * make it int * Ugly with zero value, but done. Now we only need to remember to check the new sidebar if the old sidebar ever changes * Revert "Ugly with zero value, but done. Now we only need to remember to check the new sidebar if the old sidebar ever changes" This reverts commit 2d3b740e382206997885d47c60585b929baa773f. * decouple * no bad bot --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> Co-authored-by: DevTekVE Co-authored-by: Jason Wen --- selfdrive/ui/layouts/sidebar.py | 15 +++- selfdrive/ui/sunnypilot/layouts/sidebar.py | 87 ++++++++++++++++++++++ 2 files changed, 100 insertions(+), 2 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/layouts/sidebar.py diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py index 050cd795bf..bfa60c88ed 100644 --- a/selfdrive/ui/layouts/sidebar.py +++ b/selfdrive/ui/layouts/sidebar.py @@ -9,6 +9,8 @@ from openpilot.system.ui.lib.multilang import tr, tr_noop from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.widgets import Widget +from openpilot.selfdrive.ui.sunnypilot.layouts.sidebar import SidebarSP + SIDEBAR_WIDTH = 300 METRIC_HEIGHT = 126 METRIC_WIDTH = 240 @@ -62,9 +64,10 @@ class MetricData: self.color = color -class Sidebar(Widget): +class Sidebar(Widget, SidebarSP): def __init__(self): - super().__init__() + Widget.__init__(self) + SidebarSP.__init__(self) self._net_type = NETWORK_TYPES.get(NetworkType.none) self._net_strength = 0 @@ -112,6 +115,7 @@ class Sidebar(Widget): self._update_temperature_status(device_state) self._update_connection_status(device_state) self._update_panda_status() + SidebarSP._update_sunnylink_status(self) def _update_network_status(self, device_state): self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, tr_noop("Unknown")) @@ -200,6 +204,13 @@ class Sidebar(Widget): rl.draw_text_ex(self._font_regular, tr(self._net_type), text_pos, FONT_SIZE, 0, Colors.WHITE) def _draw_metrics(self, rect: rl.Rectangle): + if gui_app.sunnypilot_ui(): + metrics, start_y, spacing = SidebarSP._draw_metrics_w_sunnylink(self, rect, self._temp_status, self._panda_status, self._connect_status) + for idx, metric in enumerate(metrics): + self._draw_metric(rect, metric, start_y + idx * spacing) + + return + metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)] for metric, y_offset in metrics: diff --git a/selfdrive/ui/sunnypilot/layouts/sidebar.py b/selfdrive/ui/sunnypilot/layouts/sidebar.py new file mode 100644 index 0000000000..79bb15dbb8 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/sidebar.py @@ -0,0 +1,87 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +import time +from dataclasses import dataclass +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID +from openpilot.system.ui.lib.multilang import tr_noop + + +PING_TIMEOUT_NS = 80_000_000_000 # 80 seconds in nanoseconds +METRIC_HEIGHT = 126 +METRIC_MARGIN = 30 +METRIC_START_Y = 300 +HOME_BTN = rl.Rectangle(60, 860, 180, 180) + + +# Color scheme +class Colors: + WHITE = rl.WHITE + WHITE_DIM = rl.Color(255, 255, 255, 85) + GRAY = rl.Color(84, 84, 84, 255) + + # Status colors + GOOD = rl.WHITE + WARNING = rl.Color(218, 202, 37, 255) + DANGER = rl.Color(201, 34, 49, 255) + PROGRESS = rl.Color(0, 134, 233, 255) + DISABLED = rl.Color(128, 128, 128, 255) + + # UI elements + METRIC_BORDER = rl.Color(255, 255, 255, 85) + BUTTON_NORMAL = rl.WHITE + BUTTON_PRESSED = rl.Color(255, 255, 255, 166) + + +@dataclass(slots=True) +class MetricData: + label: str + value: str + color: rl.Color + + def update(self, label: str, value: str, color: rl.Color): + self.label = label + self.value = value + self.color = color + + +class SidebarSP: + def __init__(self): + self._sunnylink_status = MetricData(tr_noop("SUNNYLINK"), tr_noop("OFFLINE"), Colors.WARNING) + + def _update_sunnylink_status(self): + if not ui_state.params.get_bool("SunnylinkEnabled"): + self._sunnylink_status.update(tr_noop("SUNNYLINK"), tr_noop("DISABLED"), Colors.DISABLED) + return + + last_ping = ui_state.params.get("LastSunnylinkPingTime") or 0 + dongle_id = ui_state.params.get("SunnylinkDongleId") + + is_online = last_ping and (time.monotonic_ns() - last_ping) < PING_TIMEOUT_NS + is_temp_fault = ui_state.params.get_bool("SunnylinkTempFault") + is_registering = not is_temp_fault and dongle_id in (None, "", UNREGISTERED_SUNNYLINK_DONGLE_ID) + + # Determine status/color pair based on priority + if last_ping: + status, color = (tr_noop("ONLINE"), Colors.GOOD) if is_online else (tr_noop("ERROR"), Colors.DANGER) + elif is_temp_fault: + status, color = (tr_noop("FAULT"), Colors.WARNING) + elif is_registering: + status, color = (tr_noop("REGIST..."), Colors.PROGRESS) + else: + status, color = (tr_noop("OFFLINE"), Colors.DANGER) + + self._sunnylink_status.update(tr_noop("SUNNYLINK"), status, color) + + def _draw_metrics_w_sunnylink(self, rect: rl.Rectangle, _temp, _panda, _connect): + metrics = [_temp, _panda, _connect, self._sunnylink_status] + start_y = int(rect.y) + METRIC_START_Y + available_height = max(0, int(HOME_BTN.y) - METRIC_MARGIN - METRIC_HEIGHT - start_y) + spacing = available_height / max(1, len(metrics) - 1) + + return metrics, start_y, spacing From 1eb82fcc852798e6ef7dd0af7216442bdf82bd9c Mon Sep 17 00:00:00 2001 From: Nayan Date: Sun, 4 Jan 2026 00:27:22 -0500 Subject: [PATCH 049/144] ui: Global Brightness Override (#1579) * global brightness * initialize * keep stock * lint --------- Co-authored-by: Jason Wen --- selfdrive/ui/sunnypilot/ui_state.py | 3 +++ selfdrive/ui/ui_state.py | 11 ++++++++++- 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 21ed78b096..79ca410e1b 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -22,6 +22,8 @@ class UIStateSP: self.sunnylink_state = SunnylinkState() + self.global_brightness_override: int = self.params.get("Brightness", return_default=True) + def update(self) -> None: if self.sunnylink_enabled: self.sunnylink_state.start() @@ -74,6 +76,7 @@ class UIStateSP: self.rainbow_path = self.params.get_bool("RainbowMode") self.chevron_metrics = self.params.get("ChevronInfo") self.active_bundle = self.params.get("ModelManager_ActiveBundle") + self.global_brightness_override = self.params.get("Brightness", return_default=True) class DeviceSP: diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index a86c84ada3..7aad769bb1 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -255,9 +255,18 @@ class Device(DeviceSP): else: clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0 - clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100])) + if gui_app.sunnypilot_ui(): + if ui_state.global_brightness_override <= 0: + min_global_brightness = 1 if ui_state.global_brightness_override < 0 else 30 + clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_global_brightness, 100])) + else: + clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100])) brightness = round(self._brightness_filter.update(clipped_brightness)) + + if gui_app.sunnypilot_ui() and ui_state.global_brightness_override > 0: + brightness = ui_state.global_brightness_override + if not self._awake: brightness = 0 From e5e56614c97d147c8e05c69b60bd61b7f434dcb0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 4 Jan 2026 00:33:32 -0500 Subject: [PATCH 050/144] ui: Customizable Interactive Timeout (#1640) * ui: Custom Interactive Timeout * rename * lint --- selfdrive/ui/sunnypilot/ui_state.py | 2 ++ selfdrive/ui/ui_state.py | 3 +++ 2 files changed, 5 insertions(+) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 79ca410e1b..35d85eca50 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -22,6 +22,7 @@ class UIStateSP: self.sunnylink_state = SunnylinkState() + self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True) self.global_brightness_override: int = self.params.get("Brightness", return_default=True) def update(self) -> None: @@ -76,6 +77,7 @@ class UIStateSP: self.rainbow_path = self.params.get_bool("RainbowMode") self.chevron_metrics = self.params.get("ChevronInfo") self.active_bundle = self.params.get("ModelManager_ActiveBundle") + self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) self.global_brightness_override = self.params.get("Brightness", return_default=True) diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index 7aad769bb1..c7f9a7ddac 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -221,6 +221,9 @@ class Device(DeviceSP): if self._override_interactive_timeout is not None: return self._override_interactive_timeout + if gui_app.sunnypilot_ui() and ui_state.custom_interactive_timeout != 0: + return ui_state.custom_interactive_timeout + ignition_timeout = 10 if gui_app.big_ui() else 5 return ignition_timeout if ui_state.ignition else 30 From be854df32d438cbd0e7977f61f9d104de179d2bc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 4 Jan 2026 13:46:30 -0800 Subject: [PATCH 051/144] remove unused dbus-next package (#36979) --- pyproject.toml | 1 - uv.lock | 11 ----------- 2 files changed, 12 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index e048894494..d6360a58ad 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -107,7 +107,6 @@ dev = [ "av", "azure-identity", "azure-storage-blob", - "dbus-next", # TODO: remove once we moved everything to jeepney "dictdiffer", "jeepney", "matplotlib", diff --git a/uv.lock b/uv.lock index a40167bb92..f0f3cb35b9 100644 --- a/uv.lock +++ b/uv.lock @@ -499,15 +499,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/e5/41/54fd429ff8147475fc24ca43246f85d78fb4e747c27f227e68f1594648f1/cython-3.2.3-py3-none-any.whl", hash = "sha256:06a1317097f540d3bb6c7b81ed58a0d8b9dbfa97abf39dfd4c22ee87a6c7241e", size = 1255561, upload-time = "2025-12-14T07:50:31.217Z" }, ] -[[package]] -name = "dbus-next" -version = "0.2.3" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/ce/45/6a40fbe886d60a8c26f480e7d12535502b5ba123814b3b9a0b002ebca198/dbus_next-0.2.3.tar.gz", hash = "sha256:f4eae26909332ada528c0a3549dda8d4f088f9b365153952a408e28023a626a5", size = 71112, upload-time = "2021-07-25T22:11:28.398Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/d2/fc/c0a3f4c4eaa5a22fbef91713474666e13d0ea2a69c84532579490a9f2cc8/dbus_next-0.2.3-py3-none-any.whl", hash = "sha256:58948f9aff9db08316734c0be2a120f6dc502124d9642f55e90ac82ffb16a18b", size = 57885, upload-time = "2021-07-25T22:11:25.466Z" }, -] - [[package]] name = "dearpygui" version = "2.1.1" @@ -1352,7 +1343,6 @@ dev = [ { name = "av" }, { name = "azure-identity" }, { name = "azure-storage-blob" }, - { name = "dbus-next" }, { name = "dictdiffer" }, { name = "jeepney" }, { name = "matplotlib" }, @@ -1408,7 +1398,6 @@ requires-dist = [ { name = "coverage", marker = "extra == 'testing'" }, { name = "crcmod-plus" }, { name = "cython" }, - { name = "dbus-next", marker = "extra == 'dev'" }, { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" }, { name = "dictdiffer", marker = "extra == 'dev'" }, { name = "future-fstrings" }, From 3c5974930aac69724a72aa895e2014807a9a0b52 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 4 Jan 2026 17:09:26 -0500 Subject: [PATCH 052/144] cleanup SecOC release gating (#36980) --- selfdrive/car/card.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index aa0d12e960..12b8313471 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -117,7 +117,7 @@ class Car: safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] - if self.CP.secOcRequired and not is_release: + if self.CP.secOcRequired: # Copy user key if available try: with open("/cache/params/SecOCKey") as f: From 84bce8ae020b0819cf41d31e832dd565a53e642d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 4 Jan 2026 17:52:10 -0800 Subject: [PATCH 053/144] rm pygame (#36982) * rm pygame * lil more * cleanup * lil more --- pyproject.toml | 1 - tools/replay/lib/ui_helpers.py | 91 ++++++------ tools/replay/ui.py | 244 +++++++++++++++++++-------------- 3 files changed, 182 insertions(+), 154 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index d6360a58ad..903995cf64 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -113,7 +113,6 @@ dev = [ "opencv-python-headless", "parameterized >=0.8, <0.9", "pyautogui", - "pygame", "pyopencl; platform_machine != 'aarch64'", # broken on arm64 "pytools>=2025.1.6; platform_machine != 'aarch64'", "pywinctl", diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index b90cbd93b0..7c95e9cad4 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -1,9 +1,8 @@ import itertools -from typing import Any import matplotlib.pyplot as plt import numpy as np -import pygame +import pyray as rl from matplotlib.backends.backend_agg import FigureCanvasAgg @@ -18,21 +17,25 @@ YELLOW = (255, 255, 0) BLACK = (0, 0, 0) WHITE = (255, 255, 255) + class UIParams: lidar_x, lidar_y, lidar_zoom = 384, 960, 6 - lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 + lidar_car_x, lidar_car_y = lidar_x / 2.0, lidar_y / 1.1 car_hwidth = 1.7272 / 2 * lidar_zoom car_front = 2.6924 * lidar_zoom car_back = 1.8796 * lidar_zoom car_color = 110 + + UP = UIParams METER_WIDTH = 20 + class Calibration: def __init__(self, num_px, rpy, intrinsic, calib_scale): self.intrinsic = intrinsic - self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3] + self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:, :3] self.zoom = calib_scale def car_space_to_ff(self, x, y, z): @@ -47,19 +50,18 @@ class Calibration: return pts / self.zoom -_COLOR_CACHE : dict[tuple[int, int, int], Any] = {} +_COLOR_CACHE: dict[tuple[int, int, int], int] = { + (255, 0, 0): 1, # RED + (0, 255, 0): 2, # GREEN + (0, 0, 255): 3, # BLUE + (255, 255, 0): 4, # YELLOW + (0, 0, 0): 0, # BLACK + (255, 255, 255): 255, # WHITE +} + + def find_color(lidar_surface, color): - if color in _COLOR_CACHE: - return _COLOR_CACHE[color] - tcolor = 0 - ret = 255 - for x in lidar_surface.get_palette(): - if x[0:3] == color: - ret = tcolor - break - tcolor += 1 - _COLOR_CACHE[color] = ret - return ret + return _COLOR_CACHE.get(color, 255) def to_topdown_pt(y, x): @@ -91,13 +93,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0): def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles): - color_palette = { "r": (1, 0, 0), - "g": (0, 1, 0), - "b": (0, 0, 1), - "k": (0, 0, 0), - "y": (1, 1, 0), - "p": (0, 1, 1), - "m": (1, 0, 1)} + color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)} dpi = 90 fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi) @@ -107,7 +103,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co axs = [] for pn in range(len(plot_ylims)): - ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1) + ax = fig.add_subplot(len(plot_ylims), 1, len(axs) + 1) ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1]) ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1]) ax.patch.set_facecolor((0.4, 0.4, 0.4)) @@ -116,15 +112,11 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co plots, idxs, plot_select = [], [], [] for i, pl_list in enumerate(plot_names): for j, item in enumerate(pl_list): - plot, = axs[i].plot(arr[:, name_to_arr_idx[item]], - label=item, - color=color_palette[plot_colors[i][j]], - linestyle=plot_styles[i][j]) + (plot,) = axs[i].plot(arr[:, name_to_arr_idx[item]], label=item, color=color_palette[plot_colors[i][j]], linestyle=plot_styles[i][j]) plots.append(plot) idxs.append(name_to_arr_idx[item]) plot_select.append(i) - axs[i].set_title(", ".join(f"{nm} ({cl})" - for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) + axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) axs[i].tick_params(axis="x", colors="white") axs[i].tick_params(axis="y", colors="white") axs[i].title.set_color("white") @@ -134,6 +126,12 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co canvas.draw() + # Pre-create texture for plots (reuse each frame to avoid log spam) + w, h = canvas.get_width_height() + plot_image = rl.gen_image_color(w, h, rl.BLACK) + plot_texture = rl.load_texture_from_image(plot_image) + rl.unload_image(plot_image) + def draw_plots(arr): for ax in axs: ax.draw_artist(ax.patch) @@ -141,17 +139,13 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co plots[i].set_ydata(arr[:, idxs[i]]) axs[plot_select[i]].draw_artist(plots[i]) - raw_data = canvas.buffer_rgba() - plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert() - return plot_surface + raw_data = np.ascontiguousarray(canvas.buffer_rgba(), dtype=np.uint8) + rl.update_texture(plot_texture, rl.ffi.cast("void *", raw_data.ctypes.data)) + return plot_texture return draw_plots -def pygame_modules_have_loaded(): - return pygame.display.get_init() and pygame.font.get_init() - - def plot_model(m, img, calibration, top_down): if calibration is None or top_down is None: return @@ -166,7 +160,7 @@ def plot_model(m, img, calibration, top_down): _, py_top = to_topdown_pt(x + x_std, y) px, py_bottom = to_topdown_pt(x - x_std, y) - top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) + top_down[1][int(round(px - 4)) : int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True): color = (0, int(255 * prob), 0) @@ -202,22 +196,15 @@ def maybe_update_radar_points(lt, lid_overlay): # negative here since radar is left positive px, py = to_topdown_pt(pt[0], -pt[1]) if px != -1: - lid_overlay[px - 4:px + 4, py - 4:py + 4] = 0 - lid_overlay[px - 2:px + 2, py - 2:py + 2] = 255 + lid_overlay[px - 4 : px + 4, py - 4 : py + 4] = 0 + lid_overlay[px - 2 : px + 2, py - 2 : py + 2] = 255 + def get_blank_lid_overlay(UP): lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') # Draw the car. - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - - UP.car_front))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + - UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)) : int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)) : int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front)) : int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front)) : int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color return lid_overlay diff --git a/tools/replay/ui.py b/tools/replay/ui.py index d71d63d1ce..54667ebfe9 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -5,57 +5,88 @@ import sys import cv2 import numpy as np -import pygame +import pyray as rl import cereal.messaging as messaging from openpilot.common.basedir import BASEDIR from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.tools.replay.lib.ui_helpers import (UP, - BLACK, GREEN, - YELLOW, Calibration, - get_blank_lid_overlay, init_plots, - maybe_update_radar_points, plot_lead, - plot_model, - pygame_modules_have_loaded) +from openpilot.tools.replay.lib.ui_helpers import ( + UP, + BLACK, + GREEN, + YELLOW, + Calibration, + get_blank_lid_overlay, + init_plots, + maybe_update_radar_points, + plot_lead, + plot_model, +) from msgq.visionipc import VisionIpcClient, VisionStreamType os.environ['BASEDIR'] = BASEDIR ANGLE_SCALE = 5.0 + def ui_thread(addr): cv2.setNumThreads(1) - pygame.init() - pygame.font.init() - assert pygame_modules_have_loaded() - disp_info = pygame.display.Info() - max_height = disp_info.current_h + # Get monitor info before creating window + rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT) + rl.init_window(1, 1, "") + max_height = rl.get_monitor_height(0) + rl.close_window() hor_mode = os.getenv("HORIZONTAL") is not None - hor_mode = True if max_height < 960+300 else hor_mode + hor_mode = True if max_height < 960 + 300 else hor_mode if hor_mode: - size = (640+384+640, 960) + size = (640 + 384 + 640, 960) write_x = 5 write_y = 680 else: - size = (640+384, 960+300) + size = (640 + 384, 960 + 300) write_x = 645 write_y = 970 - pygame.display.set_caption("openpilot debug UI") - screen = pygame.display.set_mode(size, pygame.DOUBLEBUF) + rl.set_trace_log_level(rl.TraceLogLevel.LOG_ERROR) + rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT) + rl.init_window(size[0], size[1], "openpilot debug UI") + rl.set_target_fps(60) - alert1_font = pygame.font.SysFont("arial", 30) - alert2_font = pygame.font.SysFont("arial", 20) - info_font = pygame.font.SysFont("arial", 15) + # Load font + font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf") + font = rl.load_font_ex(font_path, 32, None, 0) - camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert() - top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) + # Create textures for camera and top-down view + camera_image = rl.gen_image_color(640, 480, rl.BLACK) + camera_texture = rl.load_texture_from_image(camera_image) + rl.unload_image(camera_image) - sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', - 'selfdriveState', 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr) + # lid_overlay array is (lidar_x, lidar_y) = (384, 960) + # pygame treats first axis as width, so texture is 384 wide x 960 tall + # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array + top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK) + top_down_texture = rl.load_texture_from_image(top_down_image) + rl.unload_image(top_down_image) + + sm = messaging.SubMaster( + [ + 'carState', + 'longitudinalPlan', + 'carControl', + 'radarState', + 'liveCalibration', + 'controlsState', + 'selfdriveState', + 'liveTracks', + 'modelV2', + 'liveParameters', + 'roadCameraState', + ], + addr=addr, + ) img = np.zeros((480, 640, 3), dtype='uint8') imgff = None @@ -65,74 +96,78 @@ def ui_thread(addr): lid_overlay_blank = get_blank_lid_overlay(UP) # plots - name_to_arr_idx = { "gas": 0, - "computer_gas": 1, - "user_brake": 2, - "computer_brake": 3, - "v_ego": 4, - "v_pid": 5, - "angle_steers_des": 6, - "angle_steers": 7, - "angle_steers_k": 8, - "steer_torque": 9, - "v_override": 10, - "v_cruise": 11, - "a_ego": 12, - "a_target": 13} + name_to_arr_idx = { + "gas": 0, + "computer_gas": 1, + "user_brake": 2, + "computer_brake": 3, + "v_ego": 4, + "v_pid": 5, + "angle_steers_des": 6, + "angle_steers": 7, + "angle_steers_k": 8, + "steer_torque": 9, + "v_override": 10, + "v_cruise": 11, + "a_ego": 12, + "a_target": 13, + } plot_arr = np.zeros((100, len(name_to_arr_idx.values()))) plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])] - plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)] - plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"], - ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"], - ["v_ego", "v_override", "v_pid", "v_cruise"], - ["a_ego", "a_target"]] - plot_colors = [["b", "b", "g", "r", "y"], - ["b", "g", "y", "r"], - ["b", "g", "r", "y"], - ["b", "r"]] - plot_styles = [["-", "-", "-", "-", "-"], - ["-", "-", "-", "-"], - ["-", "-", "-", "-"], - ["-", "-"]] + plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)] + plot_names = [ + ["gas", "computer_gas", "user_brake", "computer_brake"], + ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"], + ["v_ego", "v_override", "v_pid", "v_cruise"], + ["a_ego", "a_target"], + ] + plot_colors = [["b", "b", "g", "r", "y"], ["b", "g", "y", "r"], ["b", "g", "r", "y"], ["b", "r"]] + plot_styles = [["-", "-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-"]] draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles) + # Palette for converting lid_overlay grayscale indices to RGBA colors + palette = np.zeros((256, 4), dtype=np.uint8) + palette[:, 3] = 255 # alpha + palette[1] = [255, 0, 0, 255] # RED + palette[2] = [0, 255, 0, 255] # GREEN + palette[3] = [0, 0, 255, 255] # BLUE + palette[4] = [255, 255, 0, 255] # YELLOW + palette[110] = [110, 110, 110, 255] # car_color (gray) + palette[255] = [255, 255, 255, 255] # WHITE + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) - while True: - for event in pygame.event.get(): - if event.type == pygame.QUIT: - pygame.quit() - sys.exit() - - screen.fill((64, 64, 64)) - lid_overlay = lid_overlay_blank.copy() - top_down = top_down_surface, lid_overlay - + while not rl.window_should_close(): # ***** frame ***** if not vipc_client.is_connected(): - vipc_client.connect(True) + vipc_client.connect(False) + + rl.begin_drawing() + rl.clear_background(rl.Color(64, 64, 64, 255)) yuv_img_raw = vipc_client.recv() if yuv_img_raw is None or not yuv_img_raw.data.any(): + rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE) + rl.end_drawing() continue + lid_overlay = lid_overlay_blank.copy() + top_down = top_down_texture, lid_overlay + sm.update(0) camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))] imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) num_px = vipc_client.width * vipc_client.height - rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12) + rgb = cv2.cvtColor(imgff[: vipc_client.height * 3 // 2, : vipc_client.width], cv2.COLOR_YUV2RGB_NV12) qcam = "QCAM" in os.environ - bb_scale = (528 if qcam else camera.fcam.width) / 640. - calib_scale = camera.fcam.width / 640. - zoom_matrix = np.asarray([ - [bb_scale, 0., 0.], - [0., bb_scale, 0.], - [0., 0., 1.]]) + bb_scale = (528 if qcam else camera.fcam.width) / 640.0 + calib_scale = camera.fcam.width / 640.0 + zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]]) cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) intrinsic_matrix = camera.fcam.intrinsics @@ -151,11 +186,11 @@ def ui_thread(addr): plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED # TODO gas is deprecated - plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0) + plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0) plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE # TODO brake is deprecated - plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0) + plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0) plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo @@ -177,56 +212,63 @@ def ui_thread(addr): calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale) # *** blits *** - pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1)) - screen.blit(camera_surface, (0, 0)) + # Update camera texture from numpy array + img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA) + rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data)) + rl.draw_texture(camera_texture, 0, 0, rl.WHITE) # display alerts - alert_line1 = alert1_font.render(sm['selfdriveState'].alertText1, True, (255, 0, 0)) - alert_line2 = alert2_font.render(sm['selfdriveState'].alertText2, True, (255, 0, 0)) - screen.blit(alert_line1, (180, 150)) - screen.blit(alert_line2, (180, 190)) + rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED) + rl.draw_text_ex(font, sm['selfdriveState'].alertText2, rl.Vector2(180, 190), 20, 0, rl.RED) + # draw plots (texture is reused internally) + plot_texture = draw_plots(plot_arr) if hor_mode: - screen.blit(draw_plots(plot_arr), (640+384, 0)) + rl.draw_texture(plot_texture, 640 + 384, 0, rl.WHITE) else: - screen.blit(draw_plots(plot_arr), (0, 600)) + rl.draw_texture(plot_texture, 0, 600, rl.WHITE) - pygame.surfarray.blit_array(*top_down) - screen.blit(top_down[0], (640, 0)) + # Convert lid_overlay to RGBA and update top_down texture + # lid_overlay is (384, 960), need to transpose to (960, 384) for row-major RGBA buffer + lid_rgba = palette[lid_overlay.T] + rl.update_texture(top_down_texture, rl.ffi.cast("void *", np.ascontiguousarray(lid_rgba).ctypes.data)) + rl.draw_texture(top_down_texture, 640, 0, rl.WHITE) SPACING = 25 - lines = [ - info_font.render("ENABLED", True, GREEN if sm['selfdriveState'].enabled else BLACK), - info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW), - info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW), - info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW), + ("ENABLED", GREEN if sm['selfdriveState'].enabled else BLACK), + ("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", YELLOW), + ("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), YELLOW), + ("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), YELLOW), None, - info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW), - info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW), - info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW), - info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW) + ("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", YELLOW), + ("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", YELLOW), + ("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100.0, 2)) + " %", YELLOW), + ("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), YELLOW), ] for i, line in enumerate(lines): if line is not None: - screen.blit(line, (write_x, write_y + i * SPACING)) + color = rl.Color(line[1][0], line[1][1], line[1][2], 255) + rl.draw_text_ex(font, line[0], rl.Vector2(write_x, write_y + i * SPACING), 20, 0, color) + + rl.end_drawing() + + rl.unload_texture(camera_texture) + rl.unload_texture(top_down_texture) + rl.unload_font(font) + rl.close_window() - # this takes time...vsync or something - pygame.display.flip() def get_arg_parser(): - parser = argparse.ArgumentParser( - description="Show replay data in a UI.", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser = argparse.ArgumentParser(description="Show replay data in a UI.", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("ip_address", nargs="?", default="127.0.0.1", - help="The ip address on which to receive zmq messages.") + parser.add_argument("ip_address", nargs="?", default="127.0.0.1", help="The ip address on which to receive zmq messages.") - parser.add_argument("--frame-address", default=None, - help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") + parser.add_argument("--frame-address", default=None, help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") return parser + if __name__ == "__main__": args = get_arg_parser().parse_args(sys.argv[1:]) From ea64c4c0ae71e22b51852dc82065f76d96973235 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 4 Jan 2026 21:35:13 -0500 Subject: [PATCH 054/144] VW: Enable torqued (#36983) --- selfdrive/locationd/torqued.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 3f9b846e82..f4dc5a1471 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -33,7 +33,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda'] +ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda', 'volkswagen'] def slope2rot(slope): From 5d3ab260e1ca25f3e196a42e2e2d7dc08f5dc1e3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 5 Jan 2026 10:15:20 -0800 Subject: [PATCH 055/144] welcome lexus ls --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 186f1bc047..6191c6ba3d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.10.4 (2026-02-17) ======================== +* Lexus LS 2018 support thanks to Hacheoy! Version 0.10.3 (2025-12-17) ======================== From c693bc1247e5c5f066262a1790cca4229c1e98a1 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 5 Jan 2026 16:14:05 -0800 Subject: [PATCH 056/144] =?UTF-8?q?MacroStiff=20Model=20=F0=9F=9F=A5?= =?UTF-8?q?=F0=9F=9F=A9=F0=9F=9F=A6=F0=9F=9F=A8=20(#36972)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 8c06e95e-d7c0-4fd9-ba02-9f0b6848785e/400 * test * test * test now --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index e0eb918125..4f7aaf0865 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7 +oid sha256:4cf2023d6742c20aac7cecbf520afe370a64bcf5efdcf3531b1b128f9dfa3cc8 size 13926324 From 3edb3243f6ecfcf4a8db6ffa8b2e86ab179a5730 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 9 Jan 2026 09:16:57 -0800 Subject: [PATCH 057/144] SC driving (#36986) f1d30a23-4122-400a-80a6-557502284c36/200 --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 4f7aaf0865..27e4c8f7b9 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4cf2023d6742c20aac7cecbf520afe370a64bcf5efdcf3531b1b128f9dfa3cc8 +oid sha256:66f406ee179d984a4d8c93e38da479dcd1893127308dd3a7c322a7481a6b51b2 size 13926324 From f51c2aecede836a9fa9246cd2436a47d844a2e7f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 9 Jan 2026 15:04:33 -0800 Subject: [PATCH 058/144] Modeld: less lat smoothing (#36987) * lat is plenty smooth! * fix --- selfdrive/modeld/modeld.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 006eeef6f5..1f347dc32a 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -40,7 +40,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.1 +LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4a58e321fc..c109bf49f1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e0ad86508edb61b3eaa1b84662c515d2c3368295 \ No newline at end of file +b259f6f8f099a9d82e4c65dd5deae2e4e293007b \ No newline at end of file From a58db66a98b3afe723deaf5b723a412a8233e47c Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 9 Jan 2026 18:40:09 -0500 Subject: [PATCH 059/144] sunnylink: add units to param metadata (#1643) add units --- sunnypilot/sunnylink/params_metadata.json | 68 ++++++++++++++++++++--- 1 file changed, 60 insertions(+), 8 deletions(-) diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index f0ddbc9548..e484787b6c 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -126,11 +126,13 @@ "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)", "min": -0.35, "max": 0.35, - "step": 0.01 + "step": 0.01, + "unit": "meters" }, "CarBatteryCapacity": { "title": "Car Battery Capacity", - "description": "" + "description": "Battery Size", + "unit": "kWh" }, "CarList": { "title": "Supported Car List", @@ -396,7 +398,8 @@ }, "InteractivityTimeout": { "title": "Interactivity Timeout", - "description": "" + "description": "", + "unit": "seconds" }, "IsDevelopmentBranch": { "title": "Is Development Branch", @@ -630,7 +633,8 @@ }, "MaxTimeOffroad": { "title": "Max Time Offroad", - "description": "" + "description": "", + "unit": "seconds" }, "ModelManager_ActiveBundle": { "title": "Model Manager Active Bundle", @@ -784,9 +788,56 @@ "OnroadScreenOffTimer": { "title": "Onroad Brightness Delay", "description": "", - "min": 0, - "max": 60, - "step": 1 + "options": [ + { + "value": 15, + "label": "15s" + }, + { + "value": 30, + "label": "30s" + }, + { + "value": 60, + "label": "1m" + }, + { + "value": 120, + "label": "2m" + }, + { + "value": 180, + "label": "3m" + }, + { + "value": 240, + "label": "4m" + }, + { + "value": 300, + "label": "5m" + }, + { + "value": 360, + "label": "6m" + }, + { + "value": 420, + "label": "7m" + }, + { + "value": 480, + "label": "8m" + }, + { + "value": 540, + "label": "9m" + }, + { + "value": 600, + "label": "10m" + } + ] }, "OnroadUploads": { "title": "Onroad Uploads", @@ -1060,7 +1111,8 @@ "description": "", "min": 0.1, "max": 5.0, - "step": 0.1 + "step": 0.1, + "unit": "m/s²" }, "ToyotaEnforceStockLongitudinal": { "title": "Toyota: Enforce Factory Longitudinal Control", From 15d3a166f725725697e670cae3b5087624a42bf6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 9 Jan 2026 20:49:14 -0800 Subject: [PATCH 060/144] enable pyopencl on arm64 (#36990) --- pyproject.toml | 2 +- uv.lock | 42 +++++++++--------------------------------- 2 files changed, 10 insertions(+), 34 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 903995cf64..c21ba734dd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -113,7 +113,7 @@ dev = [ "opencv-python-headless", "parameterized >=0.8, <0.9", "pyautogui", - "pyopencl; platform_machine != 'aarch64'", # broken on arm64 + "pyopencl", "pytools>=2025.1.6; platform_machine != 'aarch64'", "pywinctl", "pyprof2calltree", diff --git a/uv.lock b/uv.lock index f0f3cb35b9..73c8fe7c9c 100644 --- a/uv.lock +++ b/uv.lock @@ -1349,8 +1349,7 @@ dev = [ { name = "opencv-python-headless" }, { name = "parameterized" }, { name = "pyautogui" }, - 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{ name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy" }, + { name = "platformdirs" }, + { name = "pytools" }, + { name = "typing-extensions" }, ] sdist = { url = "https://files.pythonhosted.org/packages/f8/cb/8927052160bc0d3bd1123a645aaf57f696da364216b57b49f92ba0777bcc/pyopencl-2025.2.7.tar.gz", hash = "sha256:a68d92eb2970418b1a7ca45aff71984c02d2e4261e01402b273f257b5d6d7511", size = 444787, upload-time = "2025-10-28T14:23:15.497Z" } wheels = [ @@ -4515,9 +4491,9 @@ name = "pytools" version = "2025.2.5" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "siphash24", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "platformdirs" }, + { name = "siphash24" }, + { name = "typing-extensions" }, ] sdist = { url = "https://files.pythonhosted.org/packages/c3/7b/f885a57e61ded45b5b10ca60f0b7575c9fb9a282e7513d0e23a33ee647e1/pytools-2025.2.5.tar.gz", hash = "sha256:a7f5350644d46d98ee9c7e67b4b41693308aa0f5e9b188d8f0694b27dc94e3a2", size = 85594, upload-time = "2025-10-07T15:53:30.49Z" } wheels = [ From a0c10be1ffd9d3d73409aa826b111713be1a85bf Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 10 Jan 2026 21:24:44 +0100 Subject: [PATCH 061/144] Revert "ui: Global Brightness Override (#1579)" This reverts commit 1eb82fcc --- selfdrive/ui/sunnypilot/ui_state.py | 2 -- selfdrive/ui/ui_state.py | 11 +---------- 2 files changed, 1 insertion(+), 12 deletions(-) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 35d85eca50..fe7124e5cc 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -23,7 +23,6 @@ class UIStateSP: self.sunnylink_state = SunnylinkState() self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True) - self.global_brightness_override: int = self.params.get("Brightness", return_default=True) def update(self) -> None: if self.sunnylink_enabled: @@ -78,7 +77,6 @@ class UIStateSP: self.chevron_metrics = self.params.get("ChevronInfo") self.active_bundle = self.params.get("ModelManager_ActiveBundle") self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) - self.global_brightness_override = self.params.get("Brightness", return_default=True) class DeviceSP: diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index c7f9a7ddac..11e0cce74e 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -258,18 +258,9 @@ class Device(DeviceSP): else: clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0 - if gui_app.sunnypilot_ui(): - if ui_state.global_brightness_override <= 0: - min_global_brightness = 1 if ui_state.global_brightness_override < 0 else 30 - clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_global_brightness, 100])) - else: - clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100])) + clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100])) brightness = round(self._brightness_filter.update(clipped_brightness)) - - if gui_app.sunnypilot_ui() and ui_state.global_brightness_override > 0: - brightness = ui_state.global_brightness_override - if not self._awake: brightness = 0 From 1252188b4b8e4228af29ed12639d4183186ef9c7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 Jan 2026 14:33:13 -0800 Subject: [PATCH 062/144] sensord: tighten temperature threshold (#36994) * sensord: tighten temperature threshold * lil more --- system/sensord/tests/test_sensord.py | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 5e98e12243..20214e12ff 100644 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -32,23 +32,17 @@ SENSOR_CONFIGURATIONS: list[set] = { Sensor = log.SensorEventData.SensorSource SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) ALL_SENSORS = { - Sensor.lsm6ds3: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("temperature", 0, 60), - }, - Sensor.lsm6ds3trc: { SensorConfig("acceleration", 5, 15), SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("temperature", 0, 60), + SensorConfig("temperature", 10, 40), # set for max range of our office }, Sensor.mmc5603nj: { SensorConfig("magneticUncalibrated", 0, 300), } } - +ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc] def get_irq_count(irq: int): with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f: From 5e4b88201e78a2c4d84f29b919c333a2ea1997ce Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Jan 2026 14:38:43 -0800 Subject: [PATCH 063/144] Toyota: whitelist hybrids for standstill resume behaviour (#36996) tioyota --- selfdrive/car/car_specific.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index bc903ec083..c93d7ac4a2 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -2,6 +2,7 @@ from cereal import car, log from opendbc.car import DT_CTRL, structs from opendbc.car.car_helpers import interfaces from opendbc.car.interfaces import MAX_CTRL_SPEED +from opendbc.car.toyota.values import ToyotaFlags from openpilot.selfdrive.selfdrived.events import Events @@ -58,7 +59,7 @@ class CarSpecificEvents: # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3 if self.CP.openpilotLongitudinalControl: # Only can leave standstill when planner wants to move - if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume: + if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value): events.add(EventName.resumeRequired) if CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) From 7f8dbf24e72a37cc1b587d7390c6b6274ef581e7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Jan 2026 17:18:40 -0800 Subject: [PATCH 064/144] Cabana: fix for internal source (#36998) * fix for internal sources from cursor * clean up * more * not needed * clean up * sure --- tools/replay/filereader.cc | 2 +- tools/replay/framereader.cc | 2 +- tools/replay/util.cc | 2 ++ 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc index d74aaebaba..cb13775a34 100644 --- a/tools/replay/filereader.cc +++ b/tools/replay/filereader.cc @@ -17,7 +17,7 @@ std::string cacheFilePath(const std::string &url) { } std::string FileReader::read(const std::string &file, std::atomic *abort) { - const bool is_remote = file.find("https://") == 0; + const bool is_remote = (file.find("https://") == 0) || (file.find("http://") == 0); const std::string local_file = is_remote ? cacheFilePath(file) : file; std::string result; diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index a5f0f748c7..96ec5915b4 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -72,7 +72,7 @@ FrameReader::~FrameReader() { } bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic *abort, bool local_cache, int chunk_size, int retries) { - auto local_file_path = url.find("https://") == 0 ? cacheFilePath(url) : url; + auto local_file_path = (url.find("https://") == 0 || url.find("http://") == 0) ? cacheFilePath(url) : url; if (!util::file_exists(local_file_path)) { FileReader f(local_cache, chunk_size, retries); if (f.read(url, abort).empty()) { diff --git a/tools/replay/util.cc b/tools/replay/util.cc index 94cea961ff..481564322e 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -154,6 +154,8 @@ size_t getRemoteFileSize(const std::string &url, std::atomic *abort) { curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, dumy_write_cb); curl_easy_setopt(curl, CURLOPT_HEADER, 1); curl_easy_setopt(curl, CURLOPT_NOBODY, 1); + curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1); + curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); CURLM *cm = curl_multi_init(); curl_multi_add_handle(cm, curl); From 1f9efd93115db3dba28459bec790cfb35ee58e2f Mon Sep 17 00:00:00 2001 From: Matt Purnell <65473602+mpurnell1@users.noreply.github.com> Date: Sat, 17 Jan 2026 00:31:26 -0600 Subject: [PATCH 065/144] transformations: move Cython to pure Python (#36830) * Remove cython for transformations * Add new test * Switch back to program to fix mac builds * Convert to Python instead * Fix failing builds * lint * Implement conversion in pure python/numpy * Add more tests * Fix bugs in tests --- common/SConscript | 7 +- common/transformations/SConscript | 5 - common/transformations/coordinates.cc | 100 ----- common/transformations/coordinates.hpp | 43 --- common/transformations/orientation.cc | 144 -------- common/transformations/orientation.hpp | 17 - .../transformations/tests/test_coordinates.py | 33 ++ .../transformations/tests/test_orientation.py | 30 ++ common/transformations/transformations.pxd | 72 ---- common/transformations/transformations.py | 342 ++++++++++++++++++ common/transformations/transformations.pyx | 173 --------- selfdrive/modeld/SConscript | 2 +- 12 files changed, 407 insertions(+), 561 deletions(-) delete mode 100644 common/transformations/SConscript delete mode 100644 common/transformations/coordinates.cc delete mode 100644 common/transformations/coordinates.hpp delete mode 100644 common/transformations/orientation.cc delete mode 100644 common/transformations/orientation.hpp delete mode 100644 common/transformations/transformations.pxd create mode 100644 common/transformations/transformations.py delete mode 100644 common/transformations/transformations.pyx diff --git a/common/SConscript b/common/SConscript index c771ee78b7..1c68cf05c7 100644 --- a/common/SConscript +++ b/common/SConscript @@ -19,11 +19,6 @@ if GetOption('extras'): # Cython bindings params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) -SConscript([ - 'transformations/SConscript', -]) - -Import('transformations_python') -common_python = [params_python, transformations_python] +common_python = [params_python] Export('common_python') diff --git a/common/transformations/SConscript b/common/transformations/SConscript deleted file mode 100644 index 4ac73a165e..0000000000 --- a/common/transformations/SConscript +++ /dev/null @@ -1,5 +0,0 @@ -Import('env', 'envCython') - -transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc']) -transformations_python = envCython.Program('transformations.so', 'transformations.pyx') -Export('transformations', 'transformations_python') diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc deleted file mode 100644 index f3f10e547f..0000000000 --- a/common/transformations/coordinates.cc +++ /dev/null @@ -1,100 +0,0 @@ -#define _USE_MATH_DEFINES - -#include "common/transformations/coordinates.hpp" - -#include -#include -#include - -double a = 6378137; // lgtm [cpp/short-global-name] -double b = 6356752.3142; // lgtm [cpp/short-global-name] -double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name] -double e1sq = 6.73949674228 * 0.001; - - -static Geodetic to_degrees(Geodetic geodetic){ - geodetic.lat = RAD2DEG(geodetic.lat); - geodetic.lon = RAD2DEG(geodetic.lon); - return geodetic; -} - -static Geodetic to_radians(Geodetic geodetic){ - geodetic.lat = DEG2RAD(geodetic.lat); - geodetic.lon = DEG2RAD(geodetic.lon); - return geodetic; -} - - -ECEF geodetic2ecef(const Geodetic &geodetic) { - auto g = to_radians(geodetic); - double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2)); - double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon); - double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon); - double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat); - return {x, y, z}; -} - -Geodetic ecef2geodetic(const ECEF &e) { - // Convert from ECEF to geodetic using Ferrari's methods - // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution - double x = e.x; - double y = e.y; - double z = e.z; - - double r = sqrt(x * x + y * y); - double Esq = a * a - b * b; - double F = 54 * b * b * z * z; - double G = r * r + (1 - esq) * z * z - esq * Esq; - double C = (esq * esq * F * r * r) / (pow(G, 3)); - double S = cbrt(1 + C + sqrt(C * C + 2 * C)); - double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G); - double Q = sqrt(1 + 2 * esq * esq * P); - double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r); - double U = sqrt(pow((r - esq * r_0), 2) + z * z); - double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z); - double Z_0 = b * b * z / (a * V); - double h = U * (1 - b * b / (a * V)); - - double lat = atan((z + e1sq * Z_0) / r); - double lon = atan2(y, x); - - return to_degrees({lat, lon, h}); -} - -LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) { - init_ecef << e.x, e.y, e.z; - - auto g = to_radians(geodetic); - - ned2ecef_matrix << - -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon), - -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon), - cos(g.lat), 0, -sin(g.lat); - ecef2ned_matrix = ned2ecef_matrix.transpose(); -} - -NED LocalCoord::ecef2ned(const ECEF &e) { - Eigen::Vector3d ecef; - ecef << e.x, e.y, e.z; - - Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef)); - return {ned[0], ned[1], ned[2]}; -} - -ECEF LocalCoord::ned2ecef(const NED &n) { - Eigen::Vector3d ned; - ned << n.n, n.e, n.d; - - Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef; - return {ecef[0], ecef[1], ecef[2]}; -} - -NED LocalCoord::geodetic2ned(const Geodetic &g) { - ECEF e = ::geodetic2ecef(g); - return ecef2ned(e); -} - -Geodetic LocalCoord::ned2geodetic(const NED &n) { - ECEF e = ned2ecef(n); - return ::ecef2geodetic(e); -} diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp deleted file mode 100644 index dc8ff7a4b6..0000000000 --- a/common/transformations/coordinates.hpp +++ /dev/null @@ -1,43 +0,0 @@ -#pragma once - -#include - -#define DEG2RAD(x) ((x) * M_PI / 180.0) -#define RAD2DEG(x) ((x) * 180.0 / M_PI) - -struct ECEF { - double x, y, z; - Eigen::Vector3d to_vector() const { - return Eigen::Vector3d(x, y, z); - } -}; - -struct NED { - double n, e, d; - Eigen::Vector3d to_vector() const { - return Eigen::Vector3d(n, e, d); - } -}; - -struct Geodetic { - double lat, lon, alt; - bool radians=false; -}; - -ECEF geodetic2ecef(const Geodetic &g); -Geodetic ecef2geodetic(const ECEF &e); - -class LocalCoord { -public: - Eigen::Matrix3d ned2ecef_matrix; - Eigen::Matrix3d ecef2ned_matrix; - Eigen::Vector3d init_ecef; - LocalCoord(const Geodetic &g, const ECEF &e); - LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {} - LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {} - - NED ecef2ned(const ECEF &e); - ECEF ned2ecef(const NED &n); - NED geodetic2ned(const Geodetic &g); - Geodetic ned2geodetic(const NED &n); -}; diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc deleted file mode 100644 index fb5e47a86a..0000000000 --- a/common/transformations/orientation.cc +++ /dev/null @@ -1,144 +0,0 @@ -#define _USE_MATH_DEFINES - -#include -#include -#include - -#include "common/transformations/orientation.hpp" -#include "common/transformations/coordinates.hpp" - -Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) { - if (quat.w() > 0){ - return quat; - } else { - return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z()); - } -} - -Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) { - Eigen::Quaterniond q; - - q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ()) - * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY()) - * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX()); - return ensure_unique(q); -} - - -Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) { - // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore - // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0); - // return {euler(2), euler(1), euler(0)}; - double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y())); - double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0); - double theta = asin(asin_arg_clipped); - double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z())); - return {gamma, theta, psi}; -} - -Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) { - return quat.toRotationMatrix(); -} - -Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) { - return ensure_unique(Eigen::Quaterniond(rot)); -} - -Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) { - return quat2rot(euler2quat(euler)); -} - -Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) { - return quat2euler(rot2quat(rot)); -} - -Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) { - return euler2rot({roll, pitch, yaw}); -} - -Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) { - Eigen::Quaterniond q; - q = Eigen::AngleAxisd(angle, axis); - return q.toRotationMatrix(); -} - - -Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) { - /* - Using Rotations to Build Aerospace Coordinate Systems - Don Koks - https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf - */ - LocalCoord converter = LocalCoord(ecef_init); - Eigen::Vector3d zero = ecef_init.to_vector(); - - Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero; - Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero; - Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero; - - Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0; - Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0; - Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0; - - Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1; - Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1; - Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1; - - Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2; - Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2; - - - x0 = Eigen::Vector3d(1, 0, 0); - y0 = Eigen::Vector3d(0, 1, 0); - z0 = Eigen::Vector3d(0, 0, 1); - - double psi = atan2(x3.dot(y0), x3.dot(x0)); - double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2))); - - y2 = rot(z0, psi) * y0; - z2 = rot(y2, theta) * z0; - - double phi = atan2(y3.dot(z2), y3.dot(y2)); - - return {phi, theta, psi}; -} - -Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) { - /* - Using Rotations to Build Aerospace Coordinate Systems - Don Koks - https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf - */ - LocalCoord converter = LocalCoord(ecef_init); - - Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0); - Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0); - Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1); - - Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0; - Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0; - Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0; - - Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1; - Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1; - Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1; - - Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2; - Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2; - - Eigen::Vector3d zero = ecef_init.to_vector(); - x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero; - y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero; - z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero; - - double psi = atan2(x3.dot(y0), x3.dot(x0)); - double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2))); - - y2 = rot(z0, psi) * y0; - z2 = rot(y2, theta) * z0; - - double phi = atan2(y3.dot(z2), y3.dot(y2)); - - return {phi, theta, psi}; -} - diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp deleted file mode 100644 index 0874a0a814..0000000000 --- a/common/transformations/orientation.hpp +++ /dev/null @@ -1,17 +0,0 @@ -#pragma once -#include -#include "common/transformations/coordinates.hpp" - - -Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat); - -Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler); -Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat); -Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat); -Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot); -Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler); -Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot); -Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw); -Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle); -Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose); -Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose); diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py index 11a6bf70ee..0b5d1c36df 100644 --- a/common/transformations/tests/test_coordinates.py +++ b/common/transformations/tests/test_coordinates.py @@ -102,3 +102,36 @@ class TestNED: np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch), ecef_positions_offset_batch, rtol=1e-9, atol=1e-7) + + def test_errors(self): + # Test wrong shape/type for geodetic2ecef + # numpy_wrap raises IndexError for scalar input + with np.testing.assert_raises(IndexError): + coord.geodetic2ecef(1.0) + + with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"): + coord.geodetic2ecef([0, 0]) + + with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"): + coord.geodetic2ecef([0, 0, 0, 0]) + + with np.testing.assert_raises(TypeError): + coord.geodetic2ecef(['a', 'b', 'c']) + + # Test LocalCoord constructor errors + with np.testing.assert_raises(ValueError): + coord.LocalCoord.from_geodetic([0, 0]) + + with np.testing.assert_raises(ValueError): + coord.LocalCoord.from_geodetic(1) + + with np.testing.assert_raises(TypeError): + coord.LocalCoord.from_geodetic(['a', 'b', 'c']) + + # Test wrong shape/type for ecef2geodetic + with np.testing.assert_raises(ValueError): + coord.ecef2geodetic([1, 2]) + with np.testing.assert_raises(ValueError): + coord.ecef2geodetic([1, 2, 3, 4]) + with np.testing.assert_raises(IndexError): + coord.ecef2geodetic(1.0) diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py index 55fbc6581e..1bf94115c8 100644 --- a/common/transformations/tests/test_orientation.py +++ b/common/transformations/tests/test_orientation.py @@ -1,4 +1,5 @@ import numpy as np +import pytest from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ rot2quat, quat2rot, \ @@ -59,3 +60,32 @@ class TestOrientation: np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7) #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7) # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7) + + def test_inputs(self): + with pytest.raises(ValueError): + euler2quat([1, 2]) + + with pytest.raises(ValueError): + quat2rot([1, 2, 3]) + + with pytest.raises(IndexError): + rot2quat(np.zeros((2, 2))) + + def test_euler_rot_consistency(self): + rpy = [0.1, 0.2, 0.3] + R = euler2rot(rpy) + + # R -> q -> R + q = rot2quat(R) + R_new = quat2rot(q) + np.testing.assert_allclose(R, R_new, atol=1e-15) + + # q -> R -> Euler (quat2euler) -> R + rpy_new = quat2euler(q) + R_new2 = euler2rot(rpy_new) + np.testing.assert_allclose(R, R_new2, atol=1e-15) + + # R -> Euler (rot2euler) -> R + rpy_from_rot = rot2euler(R) + R_new3 = euler2rot(rpy_from_rot) + np.testing.assert_allclose(R, R_new3, atol=1e-15) diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd deleted file mode 100644 index fe32e18dea..0000000000 --- a/common/transformations/transformations.pxd +++ /dev/null @@ -1,72 +0,0 @@ -# cython: language_level=3 -from libcpp cimport bool - -cdef extern from "orientation.cc": - pass - -cdef extern from "orientation.hpp": - cdef cppclass Quaternion "Eigen::Quaterniond": - Quaternion() - Quaternion(double, double, double, double) - double w() - double x() - double y() - double z() - - cdef cppclass Vector3 "Eigen::Vector3d": - Vector3() - Vector3(double, double, double) - double operator()(int) - - cdef cppclass Matrix3 "Eigen::Matrix3d": - Matrix3() - Matrix3(double*) - - double operator()(int, int) - - Quaternion euler2quat(const Vector3 &) - Vector3 quat2euler(const Quaternion &) - Matrix3 quat2rot(const Quaternion &) - Quaternion rot2quat(const Matrix3 &) - Vector3 rot2euler(const Matrix3 &) - Matrix3 euler2rot(const Vector3 &) - Matrix3 rot_matrix(double, double, double) - Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &) - Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &) - - -cdef extern from "coordinates.cc": - cdef struct ECEF: - double x - double y - double z - - cdef struct NED: - double n - double e - double d - - cdef struct Geodetic: - double lat - double lon - double alt - bool radians - - ECEF geodetic2ecef(const Geodetic &) - Geodetic ecef2geodetic(const ECEF &) - - cdef cppclass LocalCoord_c "LocalCoord": - Matrix3 ned2ecef_matrix - Matrix3 ecef2ned_matrix - - LocalCoord_c(const Geodetic &, const ECEF &) - LocalCoord_c(const Geodetic &) - LocalCoord_c(const ECEF &) - - NED ecef2ned(const ECEF &) - ECEF ned2ecef(const NED &) - NED geodetic2ned(const Geodetic &) - Geodetic ned2geodetic(const NED &) - -cdef extern from "coordinates.hpp": - pass diff --git a/common/transformations/transformations.py b/common/transformations/transformations.py new file mode 100644 index 0000000000..5cb6220f95 --- /dev/null +++ b/common/transformations/transformations.py @@ -0,0 +1,342 @@ +import numpy as np + + +# Constants +a = 6378137.0 +b = 6356752.3142 +esq = 6.69437999014e-3 +e1sq = 6.73949674228e-3 + + +def geodetic2ecef_single(g): + """ + Convert geodetic coordinates (latitude, longitude, altitude) to ECEF. + """ + try: + if len(g) != 3: + raise ValueError("Geodetic must be size 3") + except TypeError: + raise ValueError("Geodetic must be a sequence of length 3") from None + + lat, lon, alt = g + lat = np.radians(lat) + lon = np.radians(lon) + xi = np.sqrt(1.0 - esq * np.sin(lat)**2) + x = (a / xi + alt) * np.cos(lat) * np.cos(lon) + y = (a / xi + alt) * np.cos(lat) * np.sin(lon) + z = (a / xi * (1.0 - esq) + alt) * np.sin(lat) + return np.array([x, y, z]) + + +def ecef2geodetic_single(e): + """ + Convert ECEF to geodetic coordinates using Ferrari's solution. + """ + x, y, z = e + r = np.sqrt(x**2 + y**2) + Esq = a**2 - b**2 + F = 54 * b**2 * z**2 + G = r**2 + (1 - esq) * z**2 - esq * Esq + C = (esq**2 * F * r**2) / (G**3) + S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C)) + P = F / (3 * (S + 1 / S + 1)**2 * G**2) + Q = np.sqrt(1 + 2 * esq**2 * P) + r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2) + U = np.sqrt((r - esq * r_0)**2 + z**2) + V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2) + Z_0 = b**2 * z / (a * V) + h = U * (1 - b**2 / (a * V)) + lat = np.arctan((z + e1sq * Z_0) / r) + lon = np.arctan2(y, x) + return np.array([np.degrees(lat), np.degrees(lon), h]) + + +def euler2quat_single(euler): + """ + Convert Euler angles (roll, pitch, yaw) to a quaternion. + Rotation order: Z-Y-X (yaw, pitch, roll). + """ + phi, theta, psi = euler + + c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2) + c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2) + c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2) + + w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi + x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi + y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi + z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi + + if w < 0: + return np.array([-w, -x, -y, -z]) + return np.array([w, x, y, z]) + + +def quat2euler_single(q): + """ + Convert a quaternion to Euler angles (roll, pitch, yaw). + """ + w, x, y, z = q + gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2)) + sin_arg = 2 * (w * y - z * x) + sin_arg = np.clip(sin_arg, -1.0, 1.0) + theta = np.arcsin(sin_arg) + psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2)) + return np.array([gamma, theta, psi]) + + +def quat2rot_single(q): + """ + Convert a quaternion to a 3x3 rotation matrix. + """ + w, x, y, z = q + xx, yy, zz = x * x, y * y, z * z + xy, xz, yz = x * y, x * z, y * z + wx, wy, wz = w * x, w * y, w * z + + mat = np.array([ + [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)], + [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)], + [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)] + ]) + return mat + + +def rot2quat_single(rot): + """ + Convert a 3x3 rotation matrix to a quaternion. + """ + trace = np.trace(rot) + if trace > 0: + s = 0.5 / np.sqrt(trace + 1.0) + w = 0.25 / s + x = (rot[2, 1] - rot[1, 2]) * s + y = (rot[0, 2] - rot[2, 0]) * s + z = (rot[1, 0] - rot[0, 1]) * s + else: + if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]: + s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2]) + w = (rot[2, 1] - rot[1, 2]) / s + x = 0.25 * s + y = (rot[0, 1] + rot[1, 0]) / s + z = (rot[0, 2] + rot[2, 0]) / s + elif rot[1, 1] > rot[2, 2]: + s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2]) + w = (rot[0, 2] - rot[2, 0]) / s + x = (rot[0, 1] + rot[1, 0]) / s + y = 0.25 * s + z = (rot[1, 2] + rot[2, 1]) / s + else: + s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1]) + w = (rot[1, 0] - rot[0, 1]) / s + x = (rot[0, 2] + rot[2, 0]) / s + y = (rot[1, 2] + rot[2, 1]) / s + z = 0.25 * s + + if w < 0: + return np.array([-w, -x, -y, -z]) + return np.array([w, x, y, z]) + + +def euler2rot_single(euler): + """ + Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix. + Rotation order: Z-Y-X (yaw, pitch, roll). + """ + phi, theta, psi = euler + + cx, sx = np.cos(phi), np.sin(phi) + cy, sy = np.cos(theta), np.sin(theta) + cz, sz = np.cos(psi), np.sin(psi) + + Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]]) + Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]]) + Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]]) + + return Rz @ Ry @ Rx + + +def rot2euler_single(rot): + """ + Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw). + """ + return quat2euler_single(rot2quat_single(rot)) + + +def rot_matrix(roll, pitch, yaw): + """ + Create a 3x3 rotation matrix from roll, pitch, and yaw angles. + """ + return euler2rot_single([roll, pitch, yaw]) + + +def axis_angle_to_rot(axis, angle): + """ + Convert an axis-angle representation to a 3x3 rotation matrix. + """ + c = np.cos(angle / 2) + s = np.sin(angle / 2) + q = np.array([c, s*axis[0], s*axis[1], s*axis[2]]) + return quat2rot_single(q) + + +class LocalCoord: + """ + A class to handle conversions between ECEF and local NED coordinates. + """ + def __init__(self, geodetic=None, ecef=None): + """ + Initialize LocalCoord with either geodetic or ECEF coordinates. + """ + if geodetic is not None: + self.init_ecef = geodetic2ecef_single(geodetic) + lat, lon, _ = geodetic + elif ecef is not None: + self.init_ecef = np.array(ecef) + lat, lon, _ = ecef2geodetic_single(ecef) + else: + raise ValueError("Must provide geodetic or ecef") + + lat = np.radians(lat) + lon = np.radians(lon) + + self.ned2ecef_matrix = np.array([ + [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)], + [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)], + [np.cos(lat), 0, -np.sin(lat)] + ]) + self.ecef2ned_matrix = self.ned2ecef_matrix.T + + @classmethod + def from_geodetic(cls, geodetic): + """ + Create a LocalCoord instance from geodetic coordinates. + """ + return cls(geodetic=geodetic) + + @classmethod + def from_ecef(cls, ecef): + """ + Create a LocalCoord instance from ECEF coordinates. + """ + return cls(ecef=ecef) + + def ecef2ned_single(self, ecef): + """ + Convert a single ECEF point to NED coordinates relative to the origin. + """ + return self.ecef2ned_matrix @ (ecef - self.init_ecef) + + def ned2ecef_single(self, ned): + """ + Convert a single NED point to ECEF coordinates. + """ + return self.ned2ecef_matrix @ ned + self.init_ecef + + def geodetic2ned_single(self, geodetic): + """ + Convert a single geodetic point to NED coordinates. + """ + ecef = geodetic2ecef_single(geodetic) + return self.ecef2ned_single(ecef) + + def ned2geodetic_single(self, ned): + """ + Convert a single NED point to geodetic coordinates. + """ + ecef = self.ned2ecef_single(ned) + return ecef2geodetic_single(ecef) + + @property + def ned_from_ecef_matrix(self): + """ + Returns the rotation matrix from ECEF to NED coordinates. + """ + return self.ecef2ned_matrix + + @property + def ecef_from_ned_matrix(self): + """ + Returns the rotation matrix from NED to ECEF coordinates. + """ + return self.ned2ecef_matrix + + +def ecef_euler_from_ned_single(ecef_init, ned_pose): + """ + Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin + to equivalent ECEF Euler angles. + """ + converter = LocalCoord(ecef=ecef_init) + zero = np.array(ecef_init) + + x0 = converter.ned2ecef_single([1, 0, 0]) - zero + y0 = converter.ned2ecef_single([0, 1, 0]) - zero + z0 = converter.ned2ecef_single([0, 0, 1]) - zero + + phi, theta, psi = ned_pose + + x1 = axis_angle_to_rot(z0, psi) @ x0 + y1 = axis_angle_to_rot(z0, psi) @ y0 + z1 = axis_angle_to_rot(z0, psi) @ z0 + + x2 = axis_angle_to_rot(y1, theta) @ x1 + y2 = axis_angle_to_rot(y1, theta) @ y1 + z2 = axis_angle_to_rot(y1, theta) @ z1 + + x3 = axis_angle_to_rot(x2, phi) @ x2 + y3 = axis_angle_to_rot(x2, phi) @ y2 + + x0 = np.array([1.0, 0, 0]) + y0 = np.array([0, 1.0, 0]) + z0 = np.array([0, 0, 1.0]) + + psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0)) + theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2)) + + y2 = axis_angle_to_rot(z0, psi_out) @ y0 + z2 = axis_angle_to_rot(y2, theta_out) @ z0 + + phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2)) + + return np.array([phi_out, theta_out, psi_out]) + + +def ned_euler_from_ecef_single(ecef_init, ecef_pose): + """ + Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin + to equivalent NED Euler angles. + """ + converter = LocalCoord(ecef=ecef_init) + + x0 = np.array([1.0, 0, 0]) + y0 = np.array([0, 1.0, 0]) + z0 = np.array([0, 0, 1.0]) + + phi, theta, psi = ecef_pose + + x1 = axis_angle_to_rot(z0, psi) @ x0 + y1 = axis_angle_to_rot(z0, psi) @ y0 + z1 = axis_angle_to_rot(z0, psi) @ z0 + + x2 = axis_angle_to_rot(y1, theta) @ x1 + y2 = axis_angle_to_rot(y1, theta) @ y1 + z2 = axis_angle_to_rot(y1, theta) @ z1 + + x3 = axis_angle_to_rot(x2, phi) @ x2 + y3 = axis_angle_to_rot(x2, phi) @ y2 + + zero = np.array(ecef_init) + x0 = converter.ned2ecef_single([1, 0, 0]) - zero + y0 = converter.ned2ecef_single([0, 1, 0]) - zero + z0 = converter.ned2ecef_single([0, 0, 1]) - zero + + psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0)) + theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2)) + + y2 = axis_angle_to_rot(z0, psi_out) @ y0 + z2 = axis_angle_to_rot(y2, theta_out) @ z0 + + phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2)) + + return np.array([phi_out, theta_out, psi_out]) diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx deleted file mode 100644 index ae045c369d..0000000000 --- a/common/transformations/transformations.pyx +++ /dev/null @@ -1,173 +0,0 @@ -# distutils: language = c++ -# cython: language_level = 3 -from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion -from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic - -from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c -from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c -from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c -from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c -from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c -from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c -from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c -from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c -from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c -from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c -from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c -from openpilot.common.transformations.transformations cimport LocalCoord_c - - -import numpy as np -cimport numpy as np - -cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m): - return np.array([ - [m(0, 0), m(0, 1), m(0, 2)], - [m(1, 0), m(1, 1), m(1, 2)], - [m(2, 0), m(2, 1), m(2, 2)], - ]) - -cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m): - assert m.shape[0] == 3 - assert m.shape[1] == 3 - return Matrix3(m.data) - -cdef ECEF list2ecef(ecef): - cdef ECEF e - e.x = ecef[0] - e.y = ecef[1] - e.z = ecef[2] - return e - -cdef NED list2ned(ned): - cdef NED n - n.n = ned[0] - n.e = ned[1] - n.d = ned[2] - return n - -cdef Geodetic list2geodetic(geodetic): - cdef Geodetic g - g.lat = geodetic[0] - g.lon = geodetic[1] - g.alt = geodetic[2] - return g - -def euler2quat_single(euler): - cdef Vector3 e = Vector3(euler[0], euler[1], euler[2]) - cdef Quaternion q = euler2quat_c(e) - return [q.w(), q.x(), q.y(), q.z()] - -def quat2euler_single(quat): - cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) - cdef Vector3 e = quat2euler_c(q) - return [e(0), e(1), e(2)] - -def quat2rot_single(quat): - cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) - cdef Matrix3 r = quat2rot_c(q) - return matrix2numpy(r) - -def rot2quat_single(rot): - cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double)) - cdef Quaternion q = rot2quat_c(r) - return [q.w(), q.x(), q.y(), q.z()] - -def euler2rot_single(euler): - cdef Vector3 e = Vector3(euler[0], euler[1], euler[2]) - cdef Matrix3 r = euler2rot_c(e) - return matrix2numpy(r) - -def rot2euler_single(rot): - cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double)) - cdef Vector3 e = rot2euler_c(r) - return [e(0), e(1), e(2)] - -def rot_matrix(roll, pitch, yaw): - return matrix2numpy(rot_matrix_c(roll, pitch, yaw)) - -def ecef_euler_from_ned_single(ecef_init, ned_pose): - cdef ECEF init = list2ecef(ecef_init) - cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2]) - - cdef Vector3 e = ecef_euler_from_ned_c(init, pose) - return [e(0), e(1), e(2)] - -def ned_euler_from_ecef_single(ecef_init, ecef_pose): - cdef ECEF init = list2ecef(ecef_init) - cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2]) - - cdef Vector3 e = ned_euler_from_ecef_c(init, pose) - return [e(0), e(1), e(2)] - -def geodetic2ecef_single(geodetic): - cdef Geodetic g = list2geodetic(geodetic) - cdef ECEF e = geodetic2ecef_c(g) - return [e.x, e.y, e.z] - -def ecef2geodetic_single(ecef): - cdef ECEF e = list2ecef(ecef) - cdef Geodetic g = ecef2geodetic_c(e) - return [g.lat, g.lon, g.alt] - - -cdef class LocalCoord: - cdef LocalCoord_c * lc - - def __init__(self, geodetic=None, ecef=None): - assert (geodetic is not None) or (ecef is not None) - if geodetic is not None: - self.lc = new LocalCoord_c(list2geodetic(geodetic)) - elif ecef is not None: - self.lc = new LocalCoord_c(list2ecef(ecef)) - - @property - def ned2ecef_matrix(self): - return matrix2numpy(self.lc.ned2ecef_matrix) - - @property - def ecef2ned_matrix(self): - return matrix2numpy(self.lc.ecef2ned_matrix) - - @property - def ned_from_ecef_matrix(self): - return self.ecef2ned_matrix - - @property - def ecef_from_ned_matrix(self): - return self.ned2ecef_matrix - - @classmethod - def from_geodetic(cls, geodetic): - return cls(geodetic=geodetic) - - @classmethod - def from_ecef(cls, ecef): - return cls(ecef=ecef) - - def ecef2ned_single(self, ecef): - assert self.lc - cdef ECEF e = list2ecef(ecef) - cdef NED n = self.lc.ecef2ned(e) - return [n.n, n.e, n.d] - - def ned2ecef_single(self, ned): - assert self.lc - cdef NED n = list2ned(ned) - cdef ECEF e = self.lc.ned2ecef(n) - return [e.x, e.y, e.z] - - def geodetic2ned_single(self, geodetic): - assert self.lc - cdef Geodetic g = list2geodetic(geodetic) - cdef NED n = self.lc.geodetic2ned(g) - return [n.n, n.e, n.d] - - def ned2geodetic_single(self, ned): - assert self.lc - cdef NED n = list2ned(ned) - cdef Geodetic g = self.lc.ned2geodetic(n) - return [g.lat, g.lon, g.alt] - - def __dealloc__(self): - del self.lc diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 8b33a457f2..a184b6a23d 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,7 +1,7 @@ import os import glob -Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations') +Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc') lenv = env.Clone() lenvCython = envCython.Clone() From 49b6ef7f48c660b4913cc5dddd6fa7c38a56226a Mon Sep 17 00:00:00 2001 From: Copilot <198982749+Copilot@users.noreply.github.com> Date: Sat, 17 Jan 2026 14:36:19 -0500 Subject: [PATCH 066/144] SL: Fix MaxTimeOffroad metadata unit from seconds to minutes (#1650) * Initial plan * Fix MaxTimeOffroad metadata unit from seconds to minutes Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: devtekve <7696966+devtekve@users.noreply.github.com> --- sunnypilot/sunnylink/params_metadata.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index e484787b6c..1fc3f991b0 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -634,7 +634,7 @@ "MaxTimeOffroad": { "title": "Max Time Offroad", "description": "", - "unit": "seconds" + "unit": "minutes" }, "ModelManager_ActiveBundle": { "title": "Model Manager Active Bundle", From 3662a8e96250b669d0334f41deb2b23d057f0804 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 19 Jan 2026 01:26:16 -0500 Subject: [PATCH 067/144] ui: Customizable Onroad Brightness (#1641) * ui: Customizable Onroad Brightness * fixes * lint * reset on show/hide * reset on show/hide for mici * only set if true * wrong var * try this out * use clear * starts cleanup * wake for all visual alerts and handle timeouts * fixup: wake for all visual alerts and handle timeouts * handle always wake if there's an event properly * some * slightly more * need this back * Reapply "ui: Global Brightness Override (#1579)" This reverts commit a0c10be1ffd9d3d73409aa826b111713be1a85bf. * do not touch light sensor logic * override properly and clip to 30% minimum * wrap * lint * update immediately * read * max global brightness * rename * gotta do it for mici too lol * revert * Revert "revert" This reverts commit 121a082de11960ffa40b9f1414fe46fa54023507. * no more * ui * more * intenum * simplify ONROAD_BRIGHTNESS_TIMER_VALUES * no more toggle * 15 seconds countdown for auto dark regardless * auto dark refinement * only consume if expired * immediately set * rename * update sl metadata * no more --------- Co-authored-by: nayan Co-authored-by: DevTekVE --- common/params_keys.h | 1 - selfdrive/ui/mici/onroad/alert_renderer.py | 3 + .../ui/mici/onroad/augmented_road_view.py | 11 +++ selfdrive/ui/onroad/alert_renderer.py | 4 + selfdrive/ui/onroad/augmented_road_view.py | 14 ++- .../ui/sunnypilot/layouts/settings/display.py | 60 +++++++++++- selfdrive/ui/sunnypilot/ui_state.py | 88 +++++++++++++++++ selfdrive/ui/ui_state.py | 13 ++- sunnypilot/sunnylink/params_metadata.json | 97 ++++++++++++++++++- 9 files changed, 279 insertions(+), 12 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index a559d411e4..e042113927 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -168,7 +168,6 @@ inline static std::unordered_map keys = { {"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"}}, diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py index b5f796bb03..5c93e5e423 100644 --- a/selfdrive/ui/mici/onroad/alert_renderer.py +++ b/selfdrive/ui/mici/onroad/alert_renderer.py @@ -222,6 +222,9 @@ class AlertRenderer(Widget): self._alert_y_filter.update(self._rect.y - 50 if alert is None else self._rect.y) self._alpha_filter.update(0 if alert is None else 1) + if gui_app.sunnypilot_ui(): + ui_state.onroad_brightness_handle_alerts(ui_state.started, alert) + if alert is None: # If still animating out, keep the previous alert if self._alpha_filter.x > 0.01 and self._prev_alert is not None: diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 5fe33a7e48..0546920e53 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -19,6 +19,9 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera from openpilot.common.transformations.orientation import rot_from_euler from enum import IntEnum +if gui_app.sunnypilot_ui(): + from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus + OpState = log.SelfdriveState.OpenpilotState CALIBRATED = log.LiveCalibrationData.Status.calibrated ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD @@ -351,6 +354,14 @@ class AugmentedRoadView(CameraView): return self._cached_matrix + def show_event(self): + if gui_app.sunnypilot_ui(): + ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME) + + def hide_event(self): + if gui_app.sunnypilot_ui(): + ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE) + if __name__ == "__main__": gui_app.init_window("OnRoad Camera View") diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py index 1e5f99cc66..2c21b4006e 100644 --- a/selfdrive/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -116,6 +116,10 @@ class AlertRenderer(Widget): def _render(self, rect: rl.Rectangle): alert = self.get_alert(ui_state.sm) + + if gui_app.sunnypilot_ui(): + ui_state.onroad_brightness_handle_alerts(ui_state.started, alert) + if not alert: return diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index a1d10193a8..bcbcb2dcfb 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -15,10 +15,10 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera from openpilot.common.transformations.orientation import rot_from_euler if gui_app.sunnypilot_ui(): - from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer + from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer - -from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP + from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer + from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus OpState = log.SelfdriveState.OpenpilotState CALIBRATED = log.LiveCalibrationData.Status.calibrated @@ -224,6 +224,14 @@ class AugmentedRoadView(CameraView): return self._cached_matrix + def show_event(self): + if gui_app.sunnypilot_ui(): + ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME) + + def hide_event(self): + if gui_app.sunnypilot_ui(): + ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE) + if __name__ == "__main__": gui_app.init_window("OnRoad Camera View") diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py index d1d0a661b1..abbfbe7c9a 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/display.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py @@ -4,9 +4,21 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ +from enum import IntEnum + from openpilot.common.params import Params -from openpilot.system.ui.widgets.scroller_tici import Scroller +from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets.scroller_tici import Scroller +from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP + +ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 15, 1: 30, **{i: (i - 1) * 60 for i in range(2, 12)}} + + +class OnroadBrightness(IntEnum): + AUTO = 0 + AUTO_DARK = 1 class DisplayLayout(Widget): @@ -18,11 +30,55 @@ class DisplayLayout(Widget): self._scroller = Scroller(items, line_separator=True, spacing=0) def _initialize_items(self): + self._onroad_brightness = option_item_sp( + param="OnroadScreenOffBrightness", + title=lambda: tr("Onroad Brightness"), + description="", + min_value=0, + max_value=21, + value_change_step=1, + label_callback=lambda value: self.update_onroad_brightness(value), + inline=True + ) + self._onroad_brightness_timer = option_item_sp( + param="OnroadScreenOffTimer", + title=lambda: tr("Onroad Brightness Delay"), + description="", + min_value=0, + max_value=11, + value_change_step=1, + value_map=ONROAD_BRIGHTNESS_TIMER_VALUES, + label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m", + inline=True + ) items = [ - + self._onroad_brightness, + self._onroad_brightness_timer, ] return items + @staticmethod + def update_onroad_brightness(val): + if val == OnroadBrightness.AUTO: + return tr("Auto (Default)") + + if val == OnroadBrightness.AUTO_DARK: + return tr("Auto (Dark)") + + return f"{(val - 1) * 5} %" + + def _update_state(self): + super()._update_state() + + for _item in self._scroller._items: + if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None: + _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key)) + elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None: + _item.action_item.set_value(self._params.get(_item.action_item.param_key, return_default=True)) + + brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True) + self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK)) + def _render(self, rect): self._scroller.render(rect) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index fe7124e5cc..2644c157ad 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -4,13 +4,25 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ +from enum import Enum + from cereal import messaging, log, custom from openpilot.common.params import Params +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState +from openpilot.system.ui.lib.application import gui_app OpenpilotState = log.SelfdriveState.OpenpilotState MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState +ONROAD_BRIGHTNESS_TIMER_PAUSED = -1 + + +class OnroadTimerStatus(Enum): + NONE = 0 + PAUSE = 1 + RESUME = 2 + class UIStateSP: def __init__(self): @@ -21,8 +33,11 @@ class UIStateSP: ] self.sunnylink_state = SunnylinkState() + self.update_params() + self.onroad_brightness_timer: int = 0 self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True) + self.reset_onroad_sleep_timer() def update(self) -> None: if self.sunnylink_enabled: @@ -30,6 +45,40 @@ class UIStateSP: else: self.sunnylink_state.stop() + def onroad_brightness_handle_alerts(self, started: bool, alert): + has_alert = started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None + + self.update_onroad_brightness(has_alert) + if has_alert: + self.reset_onroad_sleep_timer() + + def update_onroad_brightness(self, has_alert: bool) -> None: + if has_alert: + return + + if self.onroad_brightness_timer > 0: + self.onroad_brightness_timer -= 1 + + def reset_onroad_sleep_timer(self, timer_status: OnroadTimerStatus = OnroadTimerStatus.NONE) -> None: + # Toggling from active state to inactive + if timer_status == OnroadTimerStatus.PAUSE and self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED: + self.onroad_brightness_timer = ONROAD_BRIGHTNESS_TIMER_PAUSED + # Toggling from a previously inactive state or resetting an active timer + elif (self.onroad_brightness_timer_param >= 0 and self.onroad_brightness != OnroadBrightness.AUTO and + self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED) or timer_status == OnroadTimerStatus.RESUME: + if self.onroad_brightness == OnroadBrightness.AUTO_DARK: + self.onroad_brightness_timer = 15 * gui_app.target_fps + else: + self.onroad_brightness_timer = self.onroad_brightness_timer_param * gui_app.target_fps + + @property + def onroad_brightness_timer_expired(self) -> bool: + return self.onroad_brightness != OnroadBrightness.AUTO and self.onroad_brightness_timer == 0 + + @property + def auto_onroad_brightness(self) -> bool: + return self.onroad_brightness in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK) + @staticmethod def update_status(ss, ss_sp, onroad_evt) -> str: state = ss.state @@ -78,6 +127,10 @@ class UIStateSP: self.active_bundle = self.params.get("ModelManager_ActiveBundle") self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) + # Onroad Screen Brightness + self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True))) + self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True) + class DeviceSP: def __init__(self): @@ -86,3 +139,38 @@ class DeviceSP: def _set_awake(self, on: bool): if on and self._params.get("DeviceBootMode", return_default=True) == 1: self._params.put_bool("OffroadMode", True) + + @staticmethod + def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float: + if not awake or not _ui_state.started: + return cur_brightness + + if _ui_state.onroad_brightness_timer != 0: + if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK: + return max(30.0, cur_brightness) + # For AUTO (Default) and Manual modes (while timer running), use standard brightness + return cur_brightness + + # 0: Auto (Default), 1: Auto (Dark) + if _ui_state.onroad_brightness == OnroadBrightness.AUTO: + return cur_brightness + elif _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK: + return cur_brightness + + # 2-21: 5% - 100% + return float((_ui_state.onroad_brightness - 1) * 5) + + @staticmethod + def set_min_onroad_brightness(_ui_state, min_brightness: int) -> int: + if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK: + min_brightness = 10 + + return min_brightness + + @staticmethod + def wake_from_dimmed_onroad_brightness(_ui_state, evs) -> None: + if _ui_state.started and (_ui_state.onroad_brightness_timer_expired or _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK): + if any(ev.left_down for ev in evs): + if _ui_state.onroad_brightness_timer_expired: + gui_app.mouse_events.clear() + _ui_state.reset_onroad_sleep_timer() diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index 11e0cce74e..a9127ac3c5 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -258,9 +258,17 @@ class Device(DeviceSP): else: clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0 - clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [30, 100])) + min_brightness = 30 + if gui_app.sunnypilot_ui(): + min_brightness = DeviceSP.set_min_onroad_brightness(ui_state, min_brightness) + + clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_brightness, 100])) brightness = round(self._brightness_filter.update(clipped_brightness)) + + if gui_app.sunnypilot_ui(): + brightness = DeviceSP.set_onroad_brightness(ui_state, self._awake, brightness) + if not self._awake: brightness = 0 @@ -276,6 +284,9 @@ class Device(DeviceSP): self._ignition = ui_state.ignition if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events): + if gui_app.sunnypilot_ui(): + DeviceSP.wake_from_dimmed_onroad_brightness(ui_state, gui_app.mouse_events) + self._reset_interactive_timeout() interaction_timeout = time.monotonic() > self._interaction_time diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index 1fc3f991b0..0c1c9016fc 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -777,13 +777,100 @@ "OnroadScreenOffBrightness": { "title": "Onroad Brightness", "description": "", - "min": 0, - "max": 100, - "step": 5 + "options": [ + { + "value": 0, + "label": "Auto (Default)" + }, + { + "value": 1, + "label": "Auto (Dark)" + }, + { + "value": 2, + "label": "5 %" + }, + { + "value": 3, + "label": "10 %" + }, + { + "value": 4, + "label": "15 %" + }, + { + "value": 5, + "label": "20 %" + }, + { + "value": 6, + "label": "25 %" + }, + { + "value": 7, + "label": "30 %" + }, + { + "value": 8, + "label": "35 %" + }, + { + "value": 9, + "label": "40 %" + }, + { + "value": 10, + "label": "45 %" + }, + { + "value": 11, + "label": "50 %" + }, + { + "value": 12, + "label": "55 %" + }, + { + "value": 13, + "label": "60 %" + }, + { + "value": 14, + "label": "65 %" + }, + { + "value": 15, + "label": "70 %" + }, + { + "value": 16, + "label": "75 %" + }, + { + "value": 17, + "label": "80 %" + }, + { + "value": 18, + "label": "85 %" + }, + { + "value": 19, + "label": "90 %" + }, + { + "value": 20, + "label": "95 %" + }, + { + "value": 21, + "label": "100 %" + } + ] }, "OnroadScreenOffControl": { - "title": "Onroad Screen: Reduced Brightness", - "description": "Turn off device screen or reduce brightness after driving starts" + "title": "Onroad Brightness", + "description": "Adjusts the screen brightness while it's in onroad state." }, "OnroadScreenOffTimer": { "title": "Onroad Brightness Delay", From e7b6e62b823c5c8563050b925734c5c1f5eb1f77 Mon Sep 17 00:00:00 2001 From: Nayan Date: Mon, 19 Jan 2026 01:42:24 -0500 Subject: [PATCH 068/144] [TIZI/TICI] ui: expose Interactivity Timeout option (#1497) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * param to control stock vs sp ui * init styles * SP Toggles * Lint * optimizations * Panels. With Icons. And Scroller. * patience, grasshopper * more patience, grasshopper * sp raylib preview * fix callback * fix ui preview * add ui previews * Option Control * Need this * introducing ui_state_sp for py * param to control stock vs sp ui * better * add ui_update callback * better padding * this * listitem -> listitemsp * Revert "add ui_update callback" This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958. * add show_description method * remove padding from line separator. like, WHY? 😩😩 * simplify * I. SAID. SIMPLIFY. * AAARGGGGGG..... * init * option control value fix * add all controls * hide all controls * lint * scroller -> scroller_tici * scroller -> scroller_tici * ui: `GuiApplicationExt` * add to readme * use gui_app.sunnypilot_ui() * use gui_app.sunnypilot_ui() * use gui_app.sunnypilot_ui() * optimizations * Removed hide for now * refresh controls * ugh * global brightness * initialize * inline everything again * change name * Onroad Brightness reimpl * Custom Interactive Timeout reimpl * Global Brightness Override reimpl * keep stock * ui: Custom Interactive Timeout * rename * ui: Customizable Onroad Brightness * lint * lint * Revert "Global Brightness Override reimpl" This reverts commit 53522da4f869fef410b9abd117d4fd367f67a12c. * Revert "Custom Interactive Timeout reimpl" This reverts commit 459863a9bb54cbc0829a2071caaca1e1fd45cbcf. * Revert "Onroad Brightness reimpl" This reverts commit 4092d23e57273d013f691cd8ed51ad302e69a6bd. * fixes * lint * reset on show/hide * reset on show/hide for mici * only set if true * wrong var * try this out * use clear * starts cleanup * wake for all visual alerts and handle timeouts * fixup: wake for all visual alerts and handle timeouts * handle always wake if there's an event properly * some * slightly more * need this back * Reapply "ui: Global Brightness Override (#1579)" This reverts commit a0c10be1ffd9d3d73409aa826b111713be1a85bf. * do not touch light sensor logic * override properly and clip to 30% minimum * wrap * lint * update immediately * read * max global brightness * rename * gotta do it for mici too lol * update metadata * desc --------- Co-authored-by: Jason Wen Co-authored-by: DevTekVE --- .../ui/sunnypilot/layouts/settings/display.py | 14 +++++ sunnypilot/sunnylink/params_metadata.json | 57 ++++++++++++++++++- 2 files changed, 69 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py index abbfbe7c9a..e5f1eba181 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/display.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py @@ -51,9 +51,23 @@ class DisplayLayout(Widget): label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m", inline=True ) + self._interactivity_timeout = option_item_sp( + param="InteractivityTimeout", + title=lambda: tr("Interactivity Timeout"), + description=lambda: tr("Apply a custom timeout for settings UI." + + "
This is the time after which settings UI closes automatically " + + "if user is not interacting with the screen."), + min_value=0, + max_value=120, + value_change_step=10, + label_callback=lambda value: (tr("Default") if not value or value == 0 else + f"{value} s" if value < 60 else f"{int(value/60)} m"), + inline=True + ) items = [ self._onroad_brightness, self._onroad_brightness_timer, + self._interactivity_timeout, ] return items diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index 0c1c9016fc..e4390586bc 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -398,8 +398,61 @@ }, "InteractivityTimeout": { "title": "Interactivity Timeout", - "description": "", - "unit": "seconds" + "description": "Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if user is not interacting with the screen.", + "options": [ + { + "value": 0, + "label": "Default" + }, + { + "value": 10, + "label": "10 s" + }, + { + "value": 20, + "label": "20 s" + }, + { + "value": 30, + "label": "30 s" + }, + { + "value": 40, + "label": "40 s" + }, + { + "value": 50, + "label": "50 s" + }, + { + "value": 60, + "label": "1 m" + }, + { + "value": 70, + "label": "1 m" + }, + { + "value": 80, + "label": "1 m" + }, + { + "value": 90, + "label": "1 m" + }, + { + "value": 100, + "label": "1 m" + }, + { + "value": 110, + "label": "1 m" + }, + { + "value": 120, + "label": "2 m" + } + ] }, "IsDevelopmentBranch": { "title": "Is Development Branch", From a46ff01cab6d79ec35b1fd91b5180da534804d0b Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 19 Jan 2026 11:39:21 -0800 Subject: [PATCH 069/144] [bot] Update Python packages (#36966) * Update Python packages * ty fixes --------- Co-authored-by: Vehicle Researcher Co-authored-by: Adeeb Shihadeh --- common/pid.py | 12 +- docs/CARS.md | 159 +- panda | 2 +- pyproject.toml | 4 +- selfdrive/car/car_specific.py | 2 +- .../debug/car/hyundai_enable_radar_points.py | 6 +- selfdrive/debug/car/vw_mqb_config.py | 10 +- selfdrive/debug/cpu_usage_stat.py | 1 - selfdrive/debug/fuzz_fw_fingerprint.py | 1 - selfdrive/debug/measure_torque_time_to_max.py | 1 - selfdrive/debug/test_fw_query_on_routes.py | 1 - selfdrive/locationd/calibrationd.py | 2 +- selfdrive/locationd/paramsd.py | 4 +- system/qcomgpsd/nmeaport.py | 4 +- system/ui/lib/application.py | 3 +- system/ui/widgets/__init__.py | 4 +- system/ui/widgets/network.py | 4 +- tinygrad_repo | 2 +- tools/jotpluggler/pluggle.py | 2 +- tools/tuning/measure_steering_accuracy.py | 1 - uv.lock | 1640 ++++++++--------- 21 files changed, 912 insertions(+), 953 deletions(-) diff --git a/common/pid.py b/common/pid.py index e3fa8afdf4..b3d64d6fcd 100644 --- a/common/pid.py +++ b/common/pid.py @@ -3,15 +3,9 @@ from numbers import Number class PIDController: def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100): - self._k_p = k_p - self._k_i = k_i - self._k_d = k_d - if isinstance(self._k_p, Number): - self._k_p = [[0], [self._k_p]] - if isinstance(self._k_i, Number): - self._k_i = [[0], [self._k_i]] - if isinstance(self._k_d, Number): - self._k_d = [[0], [self._k_d]] + self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p + self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i + self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d self.set_limits(pos_limit, neg_limit) diff --git a/docs/CARS.md b/docs/CARS.md index e0d61cd415..08c06b2303 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,22 +4,22 @@ 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. -# 325 Supported Cars +# 326 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
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- 1 comma four
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Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
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Parts- 1 Honda Bosch C connector
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- 1 comma four
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Parts- 1 Honda Bosch C connector
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Parts- 1 Honda Nidec connector
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Parts- 1 OBD-C cable (2 ft)
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Parts- 1 OBD-C cable (2 ft)
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Parts- 1 OBD-C cable (2 ft)
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Parts- 1 OBD-C cable (2 ft)
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- 1 mount
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||| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| @@ -31,33 +31,33 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Focus 2018[2](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Focus Hybrid 2018[2](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Kuga Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Kuga Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Ford|Mustang Mach-E 2021-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Mustang Mach-E 2021-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -91,7 +91,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -201,6 +201,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -216,19 +217,19 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Nissan[5](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[5](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[5](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Nissan[5](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Nissan[5](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Ram connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 USB-C coupler
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Subaru|Ascent 2019-21|All[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| @@ -239,19 +240,19 @@ A supported vehicle is one that just works when you install a comma device. All |Subaru|Outback 2020-22|All[6](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|XV 2018-19|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|XV 2020-21|EyeSight Driver Assistance[6](#footnotes)|openpilot available[1,7](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Škoda|Fabia 2022-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Škoda|Kamiq 2021-23[11,13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Škoda|Karoq 2019-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Kodiaq 2017-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia 2015-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia RS 2016[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Octavia Scout 2017-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Škoda|Scala 2020-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Škoda|Superb 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[9](#footnotes)|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[9](#footnotes)|Model 3 (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[9](#footnotes)|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Tesla[9](#footnotes)|Model Y (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Fabia 2022-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Kamiq 2021-23[11,13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Karoq 2019-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Kodiaq 2017-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia 2015-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia RS 2016[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Octavia Scout 2017-19[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Škoda|Scala 2020-23[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Škoda|Superb 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model 3 (with HW3) 2019-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model 3 (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model Y (with HW3) 2020-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla A connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Tesla[9](#footnotes)|Model Y (with HW4) 2024-25[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Tesla B connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -297,42 +298,42 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[15](#footnotes)||| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
diff --git a/panda b/panda index e42367df97..3dd38b76b4 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e42367df97f1a5ea4ddb152566022c3ae4672e58 +Subproject commit 3dd38b76b48903efb4705f55752e9719ba2f5564 diff --git a/pyproject.toml b/pyproject.toml index c21ba734dd..9a70f69d26 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -273,6 +273,6 @@ invalid-argument-type = "ignore" call-non-callable = "ignore" # Ignore unsupported-operator - false positives from dynamic types unsupported-operator = "ignore" -# Ignore non-subscriptable - false positives from dynamic types -non-subscriptable = "ignore" +# Ignore not-subscriptable - false positives from dynamic types +not-subscriptable = "ignore" # not-iterable errors are now fixed diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index c93d7ac4a2..86494afc7a 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -87,7 +87,7 @@ class CarSpecificEvents: events.add(EventName.speedTooLow) # TODO: this needs to be implemented generically in carState struct - # if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined] + # if CC.eps_timer_soft_disable_alert: # events.add(EventName.steerTimeLimit) return events diff --git a/selfdrive/debug/car/hyundai_enable_radar_points.py b/selfdrive/debug/car/hyundai_enable_radar_points.py index 93f5949eac..df150a5224 100755 --- a/selfdrive/debug/car/hyundai_enable_radar_points.py +++ b/selfdrive/debug/car/hyundai_enable_radar_points.py @@ -101,11 +101,11 @@ if __name__ == "__main__": uds_client = UdsClient(panda, 0x7D0, bus=args.bus) print("\n[START DIAGNOSTIC SESSION]") - session_type : SESSION_TYPE = 0x07 # type: ignore + session_type : SESSION_TYPE = 0x07 uds_client.diagnostic_session_control(session_type) print("[HARDWARE/SOFTWARE VERSION]") - fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore + fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 fw_version = uds_client.read_data_by_identifier(fw_version_data_id) print(fw_version) if fw_version not in SUPPORTED_FW_VERSIONS.keys(): @@ -113,7 +113,7 @@ if __name__ == "__main__": sys.exit(1) print("[GET CONFIGURATION]") - config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore + config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 current_config = uds_client.read_data_by_identifier(config_data_id) config_values = SUPPORTED_FW_VERSIONS[fw_version] new_config = config_values.default_config if args.default else config_values.tracks_enabled diff --git a/selfdrive/debug/car/vw_mqb_config.py b/selfdrive/debug/car/vw_mqb_config.py index 3c55642e40..13ee7786d9 100755 --- a/selfdrive/debug/car/vw_mqb_config.py +++ b/selfdrive/debug/car/vw_mqb_config.py @@ -55,7 +55,7 @@ if __name__ == "__main__": sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00') - current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore + current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) coding_text = current_coding.hex() print("\nEPS diagnostic data\n") @@ -126,9 +126,9 @@ if __name__ == "__main__": new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:] try: - seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) # type: ignore + seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) key = struct.unpack("!I", seed)[0] + 28183 # yeah, it's like that - uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) # type: ignore + uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) except (NegativeResponseError, MessageTimeoutError): print("Security access failed!") print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)") @@ -148,7 +148,7 @@ if __name__ == "__main__": uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date) tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER) uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num) - uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding) # type: ignore + uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding) except (NegativeResponseError, MessageTimeoutError): print("Writing new configuration failed!") print("Make sure the comma processes are stopped: tmux kill-session -t comma") @@ -156,7 +156,7 @@ if __name__ == "__main__": try: # Read back result just to make 100% sure everything worked - current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex() # type: ignore + current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex() print(f" New coding: {current_coding_text}") except (NegativeResponseError, MessageTimeoutError): print("Reading back updated coding failed!") diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index 397e9f35f5..089685103f 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore ''' System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs. Features: diff --git a/selfdrive/debug/fuzz_fw_fingerprint.py b/selfdrive/debug/fuzz_fw_fingerprint.py index fa99e6bfbe..b4276c0c1a 100755 --- a/selfdrive/debug/fuzz_fw_fingerprint.py +++ b/selfdrive/debug/fuzz_fw_fingerprint.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore import random from collections import defaultdict diff --git a/selfdrive/debug/measure_torque_time_to_max.py b/selfdrive/debug/measure_torque_time_to_max.py index 7052dccf7d..e99aeae464 100755 --- a/selfdrive/debug/measure_torque_time_to_max.py +++ b/selfdrive/debug/measure_torque_time_to_max.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore import os import argparse diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 1216b7299f..ab539e4feb 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore from collections import defaultdict import argparse diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 3843cf37f3..036f5822d2 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -47,7 +47,7 @@ DEBUG = os.getenv("DEBUG") is not None def is_calibration_valid(rpy: np.ndarray) -> bool: - return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1]) # type: ignore + return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1]) def sanity_clip(rpy: np.ndarray) -> np.ndarray: diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index b4084fe5bc..fd03d3d093 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -127,8 +127,8 @@ class VehicleParamsLearner: if not self.active: # Reset time when stopped so uncertainty doesn't grow - self.kf.filter.set_filter_time(t) # type: ignore - self.kf.filter.reset_rewind() # type: ignore + self.kf.filter.set_filter_time(t) + self.kf.filter.reset_rewind() def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: x = self.kf.x diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py index 8b9ab51086..10b8516ed0 100644 --- a/system/qcomgpsd/nmeaport.py +++ b/system/qcomgpsd/nmeaport.py @@ -107,11 +107,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: match fields[0]: case "$GNCLK": # fields at end are reserved (not used) - gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type] + gnss_clock = GnssClockNmeaPort(*fields[1:10]) print(gnss_clock) case "$GNMEAS": # fields at end are reserved (not used) - gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type] + gnss_meas = GnssMeasNmeaPort(*fields[1:14]) print(gnss_meas) except Exception as e: print(e) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 04cd37af3e..151f22ac12 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -184,7 +184,8 @@ class MouseState: time.monotonic(), ) # Only add changes - if self._prev_mouse_event[slot] is None or ev[:-1] != self._prev_mouse_event[slot][:-1]: + prev = self._prev_mouse_event[slot] + if prev is None or ev[:-1] != prev[:-1]: with self._lock: self._events.append(ev) self._prev_mouse_event[slot] = ev diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 4f3c977d2e..42d9a910aa 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -12,7 +12,7 @@ try: except ImportError: class Device: awake = True - device = Device() # type: ignore + device = Device() class DialogResult(IntEnum): @@ -299,7 +299,7 @@ class NavWidget(Widget, abc.ABC): # block horizontal swiping if now swiping away if self._can_swipe_away: - if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD: # type: ignore + if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD: self._swiping_away = True elif mouse_event.left_released: diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index f41a04c249..8f5168958f 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -22,8 +22,8 @@ try: from openpilot.selfdrive.ui.lib.prime_state import PrimeType except Exception: Params = None - ui_state = None # type: ignore - PrimeType = None # type: ignore + ui_state = None + PrimeType = None NM_DEVICE_STATE_NEED_AUTH = 60 MIN_PASSWORD_LENGTH = 8 diff --git a/tinygrad_repo b/tinygrad_repo index f5090192c8..7cb7abeeb0 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit f5090192c84760be1227f7e3c4f99ad0603117ae +Subproject commit 7cb7abeeb02c681a463f252179354db4bb5e3809 diff --git a/tools/jotpluggler/pluggle.py b/tools/jotpluggler/pluggle.py index 879b677514..6fb8d5049b 100755 --- a/tools/jotpluggler/pluggle.py +++ b/tools/jotpluggler/pluggle.py @@ -7,7 +7,7 @@ import dearpygui.dearpygui as dpg import multiprocessing import uuid import signal -import yaml # type: ignore +import yaml from openpilot.common.swaglog import cloudlog from openpilot.common.basedir import BASEDIR from openpilot.tools.jotpluggler.data import DataManager diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index 7e4e975742..e4aef0ba15 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# type: ignore import os import time diff --git a/uv.lock b/uv.lock index 73c8fe7c9c..674b18b7ea 100644 --- a/uv.lock +++ b/uv.lock @@ -2,12 +2,8 @@ version = 1 revision = 3 requires-python = ">=3.11, <3.13" resolution-markers = [ - "python_full_version >= '3.12' and sys_platform == 'darwin'", - "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", - "python_full_version < '3.12' and sys_platform == 'darwin'", - "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", + "python_full_version >= '3.12'", + "python_full_version < '3.12'", ] [[package]] @@ -21,7 +17,7 @@ wheels = [ [[package]] name = "aiohttp" -version = "3.13.2" +version = "3.13.3" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "aiohappyeyeballs" }, @@ -32,42 +28,42 @@ dependencies = [ { name = "propcache" }, { name = "yarl" }, ] -sdist = { url = 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[PATCH 070/144] =?UTF-8?q?WMI=20model=20=F0=9F=8D=89=20(#36798)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 1791ea0f-8667-4e0b-be73-084d912f6c4c/100 * eab53871-1f8c-45be-9a98-f6b3dd6a0adc/100 * dd075c9d-0c49-402e-b4f2-9adbe5301c84/100 * e8b5b1b0-2d37-4b62-bd39-21ff0d08ee68/100 * 1aff00c7-06c5-46a6-8a79-7e56f77d81bf/100 * 3547a2cc-1699-4e7d-a2ab-4eb87d0b8684/100 * 849aa9fb-dae6-4604-923e-050883def218/100 * 0e0f6dd2-96dc-4f34-a7cd-63bccc2f5616/100 * 887f923b-7e79-43c6-8f1f-053e1490f859/100 * 1fa82260-1171-4db5-9968-d34ce2e14694/100 * Revert "1fa82260-1171-4db5-9968-d34ce2e14694/100" This reverts commit 855f5e4ddefd69a20cc4e9da004eb53f3e00d950. * a27b3122-733e-4a65-938b-acfebebbe5e8/100 --------- Co-authored-by: Yassine Yousfi --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 27e4c8f7b9..92c81954d2 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:66f406ee179d984a4d8c93e38da479dcd1893127308dd3a7c322a7481a6b51b2 +oid sha256:1edea5bb56f876db4cec97c150799513f6a59373f3ad152d55e4dcaab1b809e3 size 13926324 From 039b85f355d6a6638575cd0a311d354ded99b5b3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Jan 2026 15:33:23 -0800 Subject: [PATCH 071/144] bump opendbc (#37003) * bump opendbc * bump * bump * bump * bump bump bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index edf19be8ef..796ece26ac 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit edf19be8efe06a5387265adc4650725bb56b5c46 +Subproject commit 796ece26acd8b9255810ca71941ed72626589ee7 From 10db1edc7f6eaba28e93479b11d483340bd3826b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Jan 2026 15:50:00 -0800 Subject: [PATCH 072/144] merge common.util and common.utils (#36951) * common: merge common.util and common.utils * cleanup * cleanup --- cereal/messaging/__init__.py | 2 +- common/realtime.py | 2 +- common/util.py | 46 --------------------------- common/utils.py | 53 ++++++++++++++++++++++++++++++-- system/hardware/tici/hardware.py | 2 +- system/sensord/sensord.py | 2 +- 6 files changed, 54 insertions(+), 53 deletions(-) delete mode 100644 common/util.py diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index 0ad846f0f4..d5033cd634 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -13,7 +13,7 @@ from typing import Optional, List, Union, Dict from cereal import log from cereal.services import SERVICE_LIST -from openpilot.common.util import MovingAverage +from openpilot.common.utils import MovingAverage NO_TRAVERSAL_LIMIT = 2**64-1 diff --git a/common/realtime.py b/common/realtime.py index 57926b4c4f..0b14681021 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -6,7 +6,7 @@ import time from setproctitle import getproctitle -from openpilot.common.util import MovingAverage +from openpilot.common.utils import MovingAverage from openpilot.system.hardware import PC diff --git a/common/util.py b/common/util.py deleted file mode 100644 index e6ddb46e7b..0000000000 --- a/common/util.py +++ /dev/null @@ -1,46 +0,0 @@ -import os -import subprocess - -def sudo_write(val: str, path: str) -> None: - try: - with open(path, 'w') as f: - f.write(str(val)) - except PermissionError: - os.system(f"sudo chmod a+w {path}") - try: - with open(path, 'w') as f: - f.write(str(val)) - except PermissionError: - # fallback for debugfs files - os.system(f"sudo su -c 'echo {val} > {path}'") - -def sudo_read(path: str) -> str: - try: - return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip() - except Exception: - return "" - -class MovingAverage: - def __init__(self, window_size: int): - self.window_size: int = window_size - self.buffer: list[float] = [0.0] * window_size - self.index: int = 0 - self.count: int = 0 - self.sum: float = 0.0 - - def add_value(self, new_value: float): - # Update the sum: subtract the value being replaced and add the new value - self.sum -= self.buffer[self.index] - self.buffer[self.index] = new_value - self.sum += new_value - - # Update the index in a circular manner - self.index = (self.index + 1) % self.window_size - - # Track the number of added values (for partial windows) - self.count = min(self.count + 1, self.window_size) - - def get_average(self) -> float: - if self.count == 0: - return float('nan') - return self.sum / self.count diff --git a/common/utils.py b/common/utils.py index 71b29a0c4e..caa9a57958 100644 --- a/common/utils.py +++ b/common/utils.py @@ -7,14 +7,61 @@ import time import functools from subprocess import Popen, PIPE, TimeoutExpired import zstandard as zstd -from openpilot.common.swaglog import cloudlog LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change +def sudo_write(val: str, path: str) -> None: + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + os.system(f"sudo chmod a+w {path}") + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + # fallback for debugfs files + os.system(f"sudo su -c 'echo {val} > {path}'") + + +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip() + except Exception: + return "" + + +class MovingAverage: + def __init__(self, window_size: int): + self.window_size: int = window_size + self.buffer: list[float] = [0.0] * window_size + self.index: int = 0 + self.count: int = 0 + self.sum: float = 0.0 + + def add_value(self, new_value: float): + # Update the sum: subtract the value being replaced and add the new value + self.sum -= self.buffer[self.index] + self.buffer[self.index] = new_value + self.sum += new_value + + # Update the index in a circular manner + self.index = (self.index + 1) % self.window_size + + # Track the number of added values (for partial windows) + self.count = min(self.count + 1, self.window_size) + + def get_average(self) -> float: + if self.count == 0: + return float('nan') + return self.sum / self.count + + class CallbackReader: """Wraps a file, but overrides the read method to also call a callback function with the number of bytes read so far.""" + def __init__(self, f, callback, *args): self.f = f self.callback = callback @@ -107,11 +154,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False): try: return func(*args, **kwargs) except Exception: - cloudlog.exception(f"{func.__name__} failed, trying again") + print(f"{func.__name__} failed, trying again") time.sleep(delay) if ignore_failure: - cloudlog.error(f"{func.__name__} failed after retry") + print(f"{func.__name__} failed after retry") else: raise Exception(f"{func.__name__} failed after retry") return wrapper diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 3cdb336086..5a84afce03 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -8,7 +8,7 @@ from functools import cached_property, lru_cache from pathlib import Path from cereal import log -from openpilot.common.util import sudo_read, sudo_write +from openpilot.common.utils import sudo_read, sudo_write from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone from openpilot.system.hardware.tici import iwlist diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py index cc0366881b..62908c6f18 100755 --- a/system/sensord/sensord.py +++ b/system/sensord/sensord.py @@ -7,7 +7,7 @@ import threading import cereal.messaging as messaging from cereal.services import SERVICE_LIST -from openpilot.common.util import sudo_write +from openpilot.common.utils import sudo_write from openpilot.common.realtime import config_realtime_process, Ratekeeper from openpilot.common.swaglog import cloudlog from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data From 13efc421c42f6e9c06430d80be02ba2a8ea50643 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 19 Jan 2026 16:27:41 -0800 Subject: [PATCH 073/144] NV12 buffer shape helpers (#36683) * Give this a try * can codex debug? * simpler * Revert "simpler" This reverts commit 572335008c1c719aa985d14bd740253ff94b94a9. * better * cleanup * try again * tie * try this * try this * do tests fail without this? * doesn't seem needed * unused * don't need duplicate * passes CI? * try this * try this * try this * I don't understand this, so back to before * keep that alignment * set uv_height --------- Co-authored-by: Adeeb Shihadeh --- system/camerad/cameras/camera_common.cc | 6 +----- system/camerad/cameras/nv12_info.h | 19 +++++++++++++++++++ system/camerad/cameras/spectra.cc | 14 +++----------- system/camerad/cameras/spectra.h | 1 + tools/replay/camera.cc | 11 ++--------- tools/replay/camera.h | 2 -- 6 files changed, 26 insertions(+), 27 deletions(-) create mode 100644 system/camerad/cameras/nv12_info.h diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1f6ad9b4be..88bca7f775 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,11 +26,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } - // the encoder HW tells us the size it wants after setting it up. - // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? - size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; - - vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset); + vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height); } diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h new file mode 100644 index 0000000000..0f4aee81a0 --- /dev/null +++ b/system/camerad/cameras/nv12_info.h @@ -0,0 +1,19 @@ +#pragma once + +#include +#include +#include + +#include "third_party/linux/include/msm_media_info.h" + +// Returns NV12 aligned width, height, and buffer size for the given frame. +inline std::tuple get_nv12_info(int width, int height) { + // the encoder HW tells us the size it wants after setting it up. + // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? + const uint32_t nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + const uint32_t nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); + assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); + assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height)); + const uint32_t nv12_buffer_size = (width <= 1344 ? 2900 : 2346)*nv12_width; + return {nv12_width, nv12_height, nv12_buffer_size}; +} diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 0d93b70465..20f48bb556 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -283,20 +283,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c buf.out_img_width = sensor->frame_width / sensor->out_scale; buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; - - // size is driven by all the HW that handles frames, - // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); - uv_offset = stride*y_height; - yuv_size = uv_offset + stride*uv_height; + std::tie(stride, y_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height); + uv_height = y_height / 2; + uv_offset = stride * y_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); - yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); - assert(y_height/2 == uv_height); open = true; configISP(); diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 13cb13f98f..983873c7f8 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -12,6 +12,7 @@ #include "common/util.h" #include "common/swaglog.h" #include "system/camerad/cameras/hw.h" +#include "system/camerad/cameras/nv12_info.h" #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/sensor.h" diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 73243ed20d..2962195aff 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -7,18 +7,11 @@ #include "third_party/linux/include/msm_media_info.h" #include "tools/replay/util.h" +#include "system/camerad/cameras/nv12_info.h" + const int BUFFER_COUNT = 40; -std::tuple get_nv12_info(int width, int height) { - int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); - int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); - assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); - assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height)); - size_t nv12_buffer_size = 2346 * nv12_width; // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage - return {nv12_width, nv12_height, nv12_buffer_size}; -} - CameraServer::CameraServer(std::pair camera_size[MAX_CAMERAS]) { for (int i = 0; i < MAX_CAMERAS; ++i) { std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i]; diff --git a/tools/replay/camera.h b/tools/replay/camera.h index 21c3d98dcf..9433018848 100644 --- a/tools/replay/camera.h +++ b/tools/replay/camera.h @@ -10,8 +10,6 @@ #include "tools/replay/framereader.h" #include "tools/replay/logreader.h" -std::tuple get_nv12_info(int width, int height); - class CameraServer { public: CameraServer(std::pair camera_size[MAX_CAMERAS] = nullptr); From c179a3ccb7a5e3a6ff550feb04e97255f40256f2 Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Mon, 19 Jan 2026 16:45:45 -0800 Subject: [PATCH 074/144] `CI`: enable `macos` tests (#37005) enable macos tests --- .github/workflows/tests.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index f0028841a0..c5802b5cb2 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -91,7 +91,6 @@ jobs: build_mac: name: build macOS - if: false # tmp disable due to brew install not working 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 From 6c7f3751e7fb30680810fe6d7141121099a21aa0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Jan 2026 17:18:22 -0800 Subject: [PATCH 075/144] camerad: calculate buffer sizes with VENUS helpers (#37006) * Revert "NV12 buffer shape helpers (#36683)" This reverts commit 13efc421c42f6e9c06430d80be02ba2a8ea50643. * camerad: calculate buffer sizes with VENUS helpers * copy header: * assert aligned * python nv12 info * debug * handle padding * use the helper --- system/camerad/cameras/nv12_info.h | 23 +- system/camerad/cameras/nv12_info.py | 21 + system/camerad/cameras/spectra.cc | 11 +- system/camerad/cameras/spectra.h | 1 - system/camerad/snapshot.py | 10 +- third_party/linux/include/msm_media_info.h | 587 ++++++++++++++++++++- tools/replay/camera.cc | 10 +- 7 files changed, 631 insertions(+), 32 deletions(-) create mode 100644 system/camerad/cameras/nv12_info.py diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h index 0f4aee81a0..e8eb117406 100644 --- a/system/camerad/cameras/nv12_info.h +++ b/system/camerad/cameras/nv12_info.h @@ -6,14 +6,17 @@ #include "third_party/linux/include/msm_media_info.h" -// Returns NV12 aligned width, height, and buffer size for the given frame. -inline std::tuple get_nv12_info(int width, int height) { - // the encoder HW tells us the size it wants after setting it up. - // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? - const uint32_t nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); - const uint32_t nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); - assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); - assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height)); - const uint32_t nv12_buffer_size = (width <= 1344 ? 2900 : 2346)*nv12_width; - return {nv12_width, nv12_height, nv12_buffer_size}; +// Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions. +inline std::tuple get_nv12_info(int width, int height) { + const uint32_t stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + const uint32_t y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); + const uint32_t uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, height); + const uint32_t size = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height); + + // Sanity checks for NV12 format assumptions + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); + assert(y_height / 2 == uv_height); + assert((stride * y_height) % 0x1000 == 0); // uv_offset must be page-aligned + + return {stride, y_height, uv_height, size}; } diff --git a/system/camerad/cameras/nv12_info.py b/system/camerad/cameras/nv12_info.py new file mode 100644 index 0000000000..bcb6312d2b --- /dev/null +++ b/system/camerad/cameras/nv12_info.py @@ -0,0 +1,21 @@ +# Python version of system/camerad/cameras/nv12_info.h +# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE) + +def align(val: int, alignment: int) -> int: + return ((val + alignment - 1) // alignment) * alignment + +def get_nv12_info(width: int, height: int) -> tuple[int, int, int, int]: + """Returns (stride, y_height, uv_height, buffer_size) for NV12 frame dimensions.""" + stride = align(width, 128) + y_height = align(height, 32) + uv_height = align(height // 2, 16) + + # VENUS_BUFFER_SIZE for NV12 + y_plane = stride * y_height + uv_plane = stride * uv_height + 4096 + size = y_plane + uv_plane + max(16 * 1024, 8 * stride) + size = align(size, 4096) + size += align(width, 512) * 512 # kernel padding for non-aligned frames + size = align(size, 4096) + + return stride, y_height, uv_height, size diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 20f48bb556..5c3e7a9d23 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -12,11 +12,11 @@ #include "media/cam_isp_ife.h" #include "media/cam_sensor_cmn_header.h" #include "media/cam_sync.h" -#include "third_party/linux/include/msm_media_info.h" #include "common/util.h" #include "common/swaglog.h" #include "system/camerad/cameras/ife.h" +#include "system/camerad/cameras/nv12_info.h" #include "system/camerad/cameras/spectra.h" #include "system/camerad/cameras/bps_blobs.h" @@ -283,12 +283,11 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c buf.out_img_width = sensor->frame_width / sensor->out_scale; buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; - std::tie(stride, y_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height); - uv_height = y_height / 2; + + // size is driven by all the HW that handles frames, + // the video encoder has certain alignment requirements in this case + std::tie(stride, y_height, uv_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height); uv_offset = stride * y_height; - if (cc.output_type != ISP_RAW_OUTPUT) { - uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); - } open = true; configISP(); diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 983873c7f8..13cb13f98f 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -12,7 +12,6 @@ #include "common/util.h" #include "common/swaglog.h" #include "system/camerad/cameras/hw.h" -#include "system/camerad/cameras/nv12_info.h" #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/sensor.h" diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py index b3369891d7..035a4acdcf 100755 --- a/system/camerad/snapshot.py +++ b/system/camerad/snapshot.py @@ -43,9 +43,15 @@ def yuv_to_rgb(y, u, v): def extract_image(buf): + # NV12 format: Y plane followed by interleaved UV plane + # UV plane size is stride * uv_height, where uv_height = align(height/2, 16) + uv_height = ((buf.height // 2) + 15) // 16 * 16 + uv_plane_size = buf.stride * uv_height + y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width] - u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] - v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] + uv_data = buf.data[buf.uv_offset:buf.uv_offset + uv_plane_size] + u = np.array(uv_data[::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] + v = np.array(uv_data[1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] return yuv_to_rgb(y, u, v) diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h index 39dceb2c49..3fd0c8849a 100644 --- a/third_party/linux/include/msm_media_info.h +++ b/third_party/linux/include/msm_media_info.h @@ -2,7 +2,9 @@ #define __MEDIA_INFO_H__ #ifndef MSM_MEDIA_ALIGN -#define MSM_MEDIA_ALIGN(__sz, __align) (((__sz) + (__align-1)) & (~(__align-1))) +#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ?\ + ((((__sz) + (__align) - 1) / (__align)) * (__align)) :\ + (((__sz) + (__align) - 1) & (~((__align) - 1)))) #endif #ifndef MSM_MEDIA_ROUNDUP @@ -148,7 +150,12 @@ enum color_fmts { * + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096) */ COLOR_FMT_NV12_MVTB, - /* Venus NV12 UBWC: + /* + * The buffer can be of 2 types: + * (1) Venus NV12 UBWC Progressive + * (2) Venus NV12 UBWC Interlaced + * + * (1) Venus NV12 UBWC Progressive Buffer Format: * Compressed Macro-tile format for NV12. * Contains 4 planes in the following order - * (A) Y_Meta_Plane @@ -234,6 +241,186 @@ enum color_fmts { * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size + * Y_Meta_Plane_size + UV_Meta_Plane_size * + max(Extradata, Y_Stride * 48), 4096) + * + * + * (2) Venus NV12 UBWC Interlaced Buffer Format: + * Compressed Macro-tile format for NV12 interlaced. + * Contains 8 planes in the following order - + * (A) Y_Meta_Top_Field_Plane + * (B) Y_UBWC_Top_Field_Plane + * (C) UV_Meta_Top_Field_Plane + * (D) UV_UBWC_Top_Field_Plane + * (E) Y_Meta_Bottom_Field_Plane + * (F) Y_UBWC_Bottom_Field_Plane + * (G) UV_Meta_Bottom_Field_Plane + * (H) UV_UBWC_Bottom_Field_Plane + * Y_Meta_Top_Field_Plane consists of meta information to decode + * compressed tile data for Y_UBWC_Top_Field_Plane. + * Y_UBWC_Top_Field_Plane consists of Y data in compressed macro-tile + * format for top field of an interlaced frame. + * UBWC decoder block will use the Y_Meta_Top_Field_Plane data together + * with Y_UBWC_Top_Field_Plane data to produce loss-less uncompressed + * 8 bit Y samples for top field of an interlaced frame. + * + * UV_Meta_Top_Field_Plane consists of meta information to decode + * compressed tile data in UV_UBWC_Top_Field_Plane. + * UV_UBWC_Top_Field_Plane consists of UV data in compressed macro-tile + * format for top field of an interlaced frame. + * UBWC decoder block will use UV_Meta_Top_Field_Plane data together + * with UV_UBWC_Top_Field_Plane data to produce loss-less uncompressed + * 8 bit subsampled color difference samples for top field of an + * interlaced frame. + * + * Each tile in Y_UBWC_Top_Field_Plane/UV_UBWC_Top_Field_Plane is + * independently decodable and randomly accessible. There is no + * dependency between tiles. + * + * Y_Meta_Bottom_Field_Plane consists of meta information to decode + * compressed tile data for Y_UBWC_Bottom_Field_Plane. + * Y_UBWC_Bottom_Field_Plane consists of Y data in compressed macro-tile + * format for bottom field of an interlaced frame. + * UBWC decoder block will use the Y_Meta_Bottom_Field_Plane data + * together with Y_UBWC_Bottom_Field_Plane data to produce loss-less + * uncompressed 8 bit Y samples for bottom field of an interlaced frame. + * + * UV_Meta_Bottom_Field_Plane consists of meta information to decode + * compressed tile data in UV_UBWC_Bottom_Field_Plane. + * UV_UBWC_Bottom_Field_Plane consists of UV data in compressed + * macro-tile format for bottom field of an interlaced frame. + * UBWC decoder block will use UV_Meta_Bottom_Field_Plane data together + * with UV_UBWC_Bottom_Field_Plane data to produce loss-less + * uncompressed 8 bit subsampled color difference samples for bottom + * field of an interlaced frame. + * + * Each tile in Y_UBWC_Bottom_Field_Plane/UV_UBWC_Bottom_Field_Plane is + * independently decodable and randomly accessible. There is no + * dependency between tiles. + * + * <-----Y_TF_Meta_Stride----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Half_height | + * M M M M M M M M M M M M . . | Meta_Y_TF_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-Compressed tile Y_TF Stride-> + * <------- Width -------> + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . ^ ^ + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | Macro_tile_Y_TF_Scanlines + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * <----UV_TF_Meta_Stride----> + * M M M M M M M M M M M M . . ^ + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . M_UV_TF_Scanlines + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <-Compressed tile UV_TF Stride-> + * U* V* U* V* U* V* U* V* . . . . ^ + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . UV_TF_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <-----Y_BF_Meta_Stride----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Half_height | + * M M M M M M M M M M M M . . | Meta_Y_BF_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-Compressed tile Y_BF Stride-> + * <------- Width -------> + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . ^ ^ + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | Macro_tile_Y_BF_Scanlines + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * <----UV_BF_Meta_Stride----> + * M M M M M M M M M M M M . . ^ + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . M_UV_BF_Scanlines + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <-Compressed tile UV_BF Stride-> + * U* V* U* V* U* V* U* V* . . . . ^ + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . UV_BF_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * + * Half_height = (Height+1)>>1 + * Y_TF_Stride = align(Width, 128) + * UV_TF_Stride = align(Width, 128) + * Y_TF_Scanlines = align(Half_height, 32) + * UV_TF_Scanlines = align((Half_height+1)/2, 32) + * Y_UBWC_TF_Plane_size = align(Y_TF_Stride * Y_TF_Scanlines, 4096) + * UV_UBWC_TF_Plane_size = align(UV_TF_Stride * UV_TF_Scanlines, 4096) + * Y_TF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64) + * Y_TF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16) + * Y_TF_Meta_Plane_size = + * align(Y_TF_Meta_Stride * Y_TF_Meta_Scanlines, 4096) + * UV_TF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64) + * UV_TF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16) + * UV_TF_Meta_Plane_size = + * align(UV_TF_Meta_Stride * UV_TF_Meta_Scanlines, 4096) + * Y_BF_Stride = align(Width, 128) + * UV_BF_Stride = align(Width, 128) + * Y_BF_Scanlines = align(Half_height, 32) + * UV_BF_Scanlines = align((Half_height+1)/2, 32) + * Y_UBWC_BF_Plane_size = align(Y_BF_Stride * Y_BF_Scanlines, 4096) + * UV_UBWC_BF_Plane_size = align(UV_BF_Stride * UV_BF_Scanlines, 4096) + * Y_BF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64) + * Y_BF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16) + * Y_BF_Meta_Plane_size = + * align(Y_BF_Meta_Stride * Y_BF_Meta_Scanlines, 4096) + * UV_BF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64) + * UV_BF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16) + * UV_BF_Meta_Plane_size = + * align(UV_BF_Meta_Stride * UV_BF_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align( Y_UBWC_TF_Plane_size + UV_UBWC_TF_Plane_size + + * Y_TF_Meta_Plane_size + UV_TF_Meta_Plane_size + + * Y_UBWC_BF_Plane_size + UV_UBWC_BF_Plane_size + + * Y_BF_Meta_Plane_size + UV_BF_Meta_Plane_size + + * + max(Extradata, Y_TF_Stride * 48), 4096) */ COLOR_FMT_NV12_UBWC, /* Venus NV12 10-bit UBWC: @@ -399,8 +586,233 @@ enum color_fmts { * Extradata, 4096) */ COLOR_FMT_RGBA8888_UBWC, + /* Venus RGBA1010102 UBWC format: + * Contains 2 planes in the following order - + * (A) Meta plane + * (B) RGBA plane + * + * <--- RGB_Meta_Stride ----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_RGB_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-------- RGB_Stride --------> + * <------- Width -------> + * R R R R R R R R R R R R . . . . ^ ^ + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . Height | + * R R R R R R R R R R R R . . . . | RGB_Scanlines + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * + * RGB_Stride = align(Width * 4, 256) + * RGB_Scanlines = align(Height, 16) + * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096) + * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64) + * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16) + * RGB_Meta_Plane_size = align(RGB_Meta_Stride * + * RGB_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size + + * Extradata, 4096) + */ + COLOR_FMT_RGBA1010102_UBWC, + /* Venus RGB565 UBWC format: + * Contains 2 planes in the following order - + * (A) Meta plane + * (B) RGB plane + * + * <--- RGB_Meta_Stride ----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_RGB_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <-------- RGB_Stride --------> + * <------- Width -------> + * R R R R R R R R R R R R . . . . ^ ^ + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . Height | + * R R R R R R R R R R R R . . . . | RGB_Scanlines + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . | | + * R R R R R R R R R R R R . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * + * RGB_Stride = align(Width * 2, 128) + * RGB_Scanlines = align(Height, 16) + * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096) + * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64) + * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16) + * RGB_Meta_Plane_size = align(RGB_Meta_Stride * + * RGB_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size + + * Extradata, 4096) + */ + COLOR_FMT_RGB565_UBWC, + /* P010 UBWC: + * Compressed Macro-tile format for NV12. + * Contains 4 planes in the following order - + * (A) Y_Meta_Plane + * (B) Y_UBWC_Plane + * (C) UV_Meta_Plane + * (D) UV_UBWC_Plane + * + * Y_Meta_Plane consists of meta information to decode compressed + * tile data in Y_UBWC_Plane. + * Y_UBWC_Plane consists of Y data in compressed macro-tile format. + * UBWC decoder block will use the Y_Meta_Plane data together with + * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples. + * + * UV_Meta_Plane consists of meta information to decode compressed + * tile data in UV_UBWC_Plane. + * UV_UBWC_Plane consists of UV data in compressed macro-tile format. + * UBWC decoder block will use UV_Meta_Plane data together with + * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2 + * subsampled color difference samples. + * + * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable + * and randomly accessible. There is no dependency between tiles. + * + * <----- Y_Meta_Stride -----> + * <-------- Width ------> + * M M M M M M M M M M M M . . ^ ^ + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . Height | + * M M M M M M M M M M M M . . | Meta_Y_Scanlines + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . | | + * M M M M M M M M M M M M . . V | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . V + * <--Compressed tile Y Stride---> + * <------- Width -------> + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . ^ ^ + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Height | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | Macro_tile_Y_Scanlines + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . | | + * Y* Y* Y* Y* Y* Y* Y* Y* . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * . . . . . . . . . . . . . . . . V + * <----- UV_Meta_Stride ----> + * M M M M M M M M M M M M . . ^ + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . | + * M M M M M M M M M M M M . . M_UV_Scanlines + * . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * <--Compressed tile UV Stride---> + * U* V* U* V* U* V* U* V* . . . . ^ + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . | + * U* V* U* V* U* V* U* V* . . . . UV_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . -------> Buffer size aligned to 4k + * + * + * Y_Stride = align(Width * 2, 256) + * UV_Stride = align(Width * 2, 256) + * Y_Scanlines = align(Height, 16) + * UV_Scanlines = align(Height/2, 16) + * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096) + * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096) + * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64) + * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16) + * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096) + * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64) + * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16) + * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096) + * Extradata = 8k + * + * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size + + * Y_Meta_Plane_size + UV_Meta_Plane_size + * + max(Extradata, Y_Stride * 48), 4096) + */ + COLOR_FMT_P010_UBWC, + /* Venus P010: + * YUV 4:2:0 image with a plane of 10 bit Y samples followed + * by an interleaved U/V plane containing 10 bit 2x2 subsampled + * colour difference samples. + * + * <-------- Y/UV_Stride --------> + * <------- Width -------> + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . ^ ^ + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . Height | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | Y_Scanlines + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . | | + * Y Y Y Y Y Y Y Y Y Y Y Y . . . . V | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * U V U V U V U V U V U V . . . . ^ + * U V U V U V U V U V U V . . . . | + * U V U V U V U V U V U V . . . . | + * U V U V U V U V U V U V . . . . UV_Scanlines + * . . . . . . . . . . . . . . . . | + * . . . . . . . . . . . . . . . . V + * . . . . . . . . . . . . . . . . --> Buffer size alignment + * + * Y_Stride : Width * 2 aligned to 128 + * UV_Stride : Width * 2 aligned to 128 + * Y_Scanlines: Height aligned to 32 + * UV_Scanlines: Height/2 aligned to 16 + * Extradata: Arbitrary (software-imposed) padding + * Total size = align((Y_Stride * Y_Scanlines + * + UV_Stride * UV_Scanlines + * + max(Extradata, Y_Stride * 8), 4096) + */ + COLOR_FMT_P010, }; +#define COLOR_FMT_RGBA1010102_UBWC COLOR_FMT_RGBA1010102_UBWC +#define COLOR_FMT_RGB565_UBWC COLOR_FMT_RGB565_UBWC +#define COLOR_FMT_P010_UBWC COLOR_FMT_P010_UBWC +#define COLOR_FMT_P010 COLOR_FMT_P010 + static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) { (void)height; @@ -413,9 +825,17 @@ static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) return 16 * 1024; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + */ static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) { unsigned int alignment, stride = 0; + if (!width) goto invalid_input; @@ -432,6 +852,14 @@ static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) stride = MSM_MEDIA_ALIGN(width, 192); stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment); break; + case COLOR_FMT_P010_UBWC: + alignment = 256; + stride = MSM_MEDIA_ALIGN(width * 2, alignment); + break; + case COLOR_FMT_P010: + alignment = 128; + stride = MSM_MEDIA_ALIGN(width*2, alignment); + break; default: break; } @@ -439,9 +867,17 @@ invalid_input: return stride; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + */ static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) { unsigned int alignment, stride = 0; + if (!width) goto invalid_input; @@ -458,6 +894,14 @@ static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) stride = MSM_MEDIA_ALIGN(width, 192); stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment); break; + case COLOR_FMT_P010_UBWC: + alignment = 256; + stride = MSM_MEDIA_ALIGN(width * 2, alignment); + break; + case COLOR_FMT_P010: + alignment = 128; + stride = MSM_MEDIA_ALIGN(width*2, alignment); + break; default: break; } @@ -465,9 +909,17 @@ invalid_input: return stride; } +/* + * Function arguments: + * @color_fmt + * @height + * Progressive: height + * Interlaced: (height+1)>>1 + */ static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) { unsigned int alignment, sclines = 0; + if (!height) goto invalid_input; @@ -476,9 +928,11 @@ static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) case COLOR_FMT_NV12: case COLOR_FMT_NV12_MVTB: case COLOR_FMT_NV12_UBWC: + case COLOR_FMT_P010: alignment = 32; break; case COLOR_FMT_NV12_BPP10_UBWC: + case COLOR_FMT_P010_UBWC: alignment = 16; break; default: @@ -489,9 +943,17 @@ invalid_input: return sclines; } +/* + * Function arguments: + * @color_fmt + * @height + * Progressive: height + * Interlaced: (height+1)>>1 + */ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) { unsigned int alignment, sclines = 0; + if (!height) goto invalid_input; @@ -500,6 +962,8 @@ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) case COLOR_FMT_NV12: case COLOR_FMT_NV12_MVTB: case COLOR_FMT_NV12_BPP10_UBWC: + case COLOR_FMT_P010_UBWC: + case COLOR_FMT_P010: alignment = 16; break; case COLOR_FMT_NV12_UBWC: @@ -509,12 +973,19 @@ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) goto invalid_input; } - sclines = MSM_MEDIA_ALIGN(height / 2, alignment); + sclines = MSM_MEDIA_ALIGN((height+1)>>1, alignment); invalid_input: return sclines; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + */ static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width) { int y_tile_width = 0, y_meta_stride = 0; @@ -524,6 +995,7 @@ static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width) switch (color_fmt) { case COLOR_FMT_NV12_UBWC: + case COLOR_FMT_P010_UBWC: y_tile_width = 32; break; case COLOR_FMT_NV12_BPP10_UBWC: @@ -540,6 +1012,13 @@ invalid_input: return y_meta_stride; } +/* + * Function arguments: + * @color_fmt + * @height + * Progressive: height + * Interlaced: (height+1)>>1 + */ static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height) { int y_tile_height = 0, y_meta_scanlines = 0; @@ -552,6 +1031,7 @@ static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height) y_tile_height = 8; break; case COLOR_FMT_NV12_BPP10_UBWC: + case COLOR_FMT_P010_UBWC: y_tile_height = 4; break; default: @@ -565,6 +1045,13 @@ invalid_input: return y_meta_scanlines; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + */ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width) { int uv_tile_width = 0, uv_meta_stride = 0; @@ -574,6 +1061,7 @@ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width) switch (color_fmt) { case COLOR_FMT_NV12_UBWC: + case COLOR_FMT_P010_UBWC: uv_tile_width = 16; break; case COLOR_FMT_NV12_BPP10_UBWC: @@ -583,13 +1071,20 @@ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width) goto invalid_input; } - uv_meta_stride = MSM_MEDIA_ROUNDUP(width / 2, uv_tile_width); + uv_meta_stride = MSM_MEDIA_ROUNDUP((width+1)>>1, uv_tile_width); uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64); invalid_input: return uv_meta_stride; } +/* + * Function arguments: + * @color_fmt + * @height + * Progressive: height + * Interlaced: (height+1)>>1 + */ static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height) { int uv_tile_height = 0, uv_meta_scanlines = 0; @@ -602,13 +1097,14 @@ static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height) uv_tile_height = 8; break; case COLOR_FMT_NV12_BPP10_UBWC: + case COLOR_FMT_P010_UBWC: uv_tile_height = 4; break; default: goto invalid_input; } - uv_meta_scanlines = MSM_MEDIA_ROUNDUP(height / 2, uv_tile_height); + uv_meta_scanlines = MSM_MEDIA_ROUNDUP((height+1)>>1, uv_tile_height); uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16); invalid_input: @@ -617,7 +1113,8 @@ invalid_input: static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width) { - unsigned int alignment = 0, stride = 0; + unsigned int alignment = 0, stride = 0, bpp = 4; + if (!width) goto invalid_input; @@ -625,14 +1122,19 @@ static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width) case COLOR_FMT_RGBA8888: alignment = 128; break; + case COLOR_FMT_RGB565_UBWC: + alignment = 256; + bpp = 2; + break; case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: alignment = 256; break; default: goto invalid_input; } - stride = MSM_MEDIA_ALIGN(width * 4, alignment); + stride = MSM_MEDIA_ALIGN(width * bpp, alignment); invalid_input: return stride; @@ -650,6 +1152,8 @@ static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height) alignment = 32; break; case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: + case COLOR_FMT_RGB565_UBWC: alignment = 16; break; default: @@ -671,6 +1175,8 @@ static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width) switch (color_fmt) { case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: + case COLOR_FMT_RGB565_UBWC: rgb_tile_width = 16; break; default: @@ -693,6 +1199,8 @@ static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height) switch (color_fmt) { case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: + case COLOR_FMT_RGB565_UBWC: rgb_tile_height = 4; break; default: @@ -706,11 +1214,22 @@ invalid_input: return rgb_meta_scanlines; } +/* + * Function arguments: + * @color_fmt + * @width + * Progressive: width + * Interlaced: width + * @height + * Progressive: height + * Interlaced: height + */ static inline unsigned int VENUS_BUFFER_SIZE( int color_fmt, int width, int height) { const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height); unsigned int uv_alignment = 0, size = 0; + unsigned int w_alignment = 512; unsigned int y_plane, uv_plane, y_stride, uv_stride, y_sclines, uv_sclines; unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0; @@ -740,6 +1259,18 @@ static inline unsigned int VENUS_BUFFER_SIZE( size = y_plane + uv_plane + MSM_MEDIA_MAX(extra_size, 8 * y_stride); size = MSM_MEDIA_ALIGN(size, 4096); + + /* Additional size to cover last row of non-aligned frame */ + size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment; + size = MSM_MEDIA_ALIGN(size, 4096); + break; + case COLOR_FMT_P010: + uv_alignment = 4096; + y_plane = y_stride * y_sclines; + uv_plane = uv_stride * uv_sclines + uv_alignment; + size = y_plane + uv_plane + + MSM_MEDIA_MAX(extra_size, 8 * y_stride); + size = MSM_MEDIA_ALIGN(size, 4096); break; case COLOR_FMT_NV12_MVTB: uv_alignment = 4096; @@ -750,6 +1281,30 @@ static inline unsigned int VENUS_BUFFER_SIZE( size = MSM_MEDIA_ALIGN(size, 4096); break; case COLOR_FMT_NV12_UBWC: + y_sclines = VENUS_Y_SCANLINES(color_fmt, (height+1)>>1); + y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096); + uv_sclines = VENUS_UV_SCANLINES(color_fmt, (height+1)>>1); + uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096); + y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width); + y_meta_scanlines = + VENUS_Y_META_SCANLINES(color_fmt, (height+1)>>1); + y_meta_plane = MSM_MEDIA_ALIGN( + y_meta_stride * y_meta_scanlines, 4096); + uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width); + uv_meta_scanlines = + VENUS_UV_META_SCANLINES(color_fmt, (height+1)>>1); + uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride * + uv_meta_scanlines, 4096); + + size = (y_ubwc_plane + uv_ubwc_plane + y_meta_plane + + uv_meta_plane)*2 + + MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride); + size = MSM_MEDIA_ALIGN(size, 4096); + + /* Additional size to cover last row of non-aligned frame */ + size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment; + size = MSM_MEDIA_ALIGN(size, 4096); + break; case COLOR_FMT_NV12_BPP10_UBWC: y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096); uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096); @@ -767,12 +1322,30 @@ static inline unsigned int VENUS_BUFFER_SIZE( MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride); size = MSM_MEDIA_ALIGN(size, 4096); break; + case COLOR_FMT_P010_UBWC: + y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096); + uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096); + y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width); + y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height); + y_meta_plane = MSM_MEDIA_ALIGN( + y_meta_stride * y_meta_scanlines, 4096); + uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width); + uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height); + uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride * + uv_meta_scanlines, 4096); + + size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane + + uv_meta_plane; + size = MSM_MEDIA_ALIGN(size, 4096); + break; case COLOR_FMT_RGBA8888: rgb_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines, 4096); size = rgb_plane; size = MSM_MEDIA_ALIGN(size, 4096); break; case COLOR_FMT_RGBA8888_UBWC: + case COLOR_FMT_RGBA1010102_UBWC: + case COLOR_FMT_RGB565_UBWC: rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines, 4096); rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width); diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 2962195aff..671c0320bb 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,14 +1,11 @@ #include "tools/replay/camera.h" -#include #include #include -#include "third_party/linux/include/msm_media_info.h" -#include "tools/replay/util.h" #include "system/camerad/cameras/nv12_info.h" - +#include "tools/replay/util.h" const int BUFFER_COUNT = 40; @@ -43,9 +40,10 @@ void CameraServer::startVipcServer() { if (cam.width > 0 && cam.height > 0) { rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height); - auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height); + auto [stride, y_height, uv_height_, buffer_size] = get_nv12_info(cam.width, cam.height); + (void)uv_height_; // unused in replay vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height, - nv12_buffer_size, nv12_width, nv12_width * nv12_height); + buffer_size, stride, stride * y_height); if (!cam.thread.joinable()) { cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam)); } From a7dfd36c00c910b694dfd3e2b3f6e0a8cc892802 Mon Sep 17 00:00:00 2001 From: Lukas <61192133+lukasloetkolben@users.noreply.github.com> Date: Wed, 21 Jan 2026 00:15:12 +0100 Subject: [PATCH 076/144] docs: comma 3X to comma four (#37009) * comma 3X -> comma four * add comma four ports image --- README.md | 8 ++++---- docs/CONTRIBUTING.md | 8 ++++---- docs/assets/four-ports.svg | 3 +++ docs/concepts/glossary.md | 2 +- docs/getting-started/what-is-openpilot.md | 2 +- docs/how-to/connect-to-comma.md | 17 +++++++++-------- docs/how-to/replay-a-drive.md | 2 +- mkdocs.yml | 2 +- selfdrive/debug/README.md | 2 +- tools/camerastream/README.md | 2 +- tools/joystick/joystick_control.py | 4 ++-- tools/replay/README.md | 2 +- 12 files changed, 29 insertions(+), 25 deletions(-) create mode 100644 docs/assets/four-ports.svg diff --git a/README.md b/README.md index a77a80935d..158bb08c49 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,7 @@ · Community · - Try it on a comma 3X + Try it on a comma four Quick start: `bash <(curl -fsSL openpilot.comma.ai)` @@ -42,10 +42,10 @@ Using openpilot in a car ------ To use openpilot in a car, you need four things: -1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). -2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. +1. **Supported Device:** a comma four, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). +2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md). -4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car. +4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car. We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play. diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 7583095eaf..d189324ff7 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu ## What contributions are we looking for? **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** -openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. +openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. ### What gets merged? The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. If a PR offers *some* value but will take lots of time to get merged, it will be closed. -Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. +Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. All of these are examples of good PRs: * typo fix: https://github.com/commaai/openpilot/pull/30678 @@ -29,7 +29,7 @@ All of these are examples of good PRs: ### What doesn't get merged? -* **style changes**: code is art, and it's up to the author to make it beautiful +* **style changes**: code is art, and it's up to the author to make it beautiful * **500+ line PRs**: clean it up, break it up into smaller PRs, or both * **PRs without a clear goal**: every PR must have a singular and clear goal * **UI design**: we do not have a good review process for this yet @@ -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 four or a car. ## Pull Requests diff --git a/docs/assets/four-ports.svg b/docs/assets/four-ports.svg new file mode 100644 index 0000000000..7bab31abf3 --- /dev/null +++ b/docs/assets/four-ports.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:494bd79c4d81d8bf766845cb451fa14e5b9ad931ff8aa90daea0ba67e164abe3 +size 105562 diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md index a09b0f0785..df9e9aa080 100644 --- a/docs/concepts/glossary.md +++ b/docs/concepts/glossary.md @@ -6,4 +6,4 @@ * **segment**: routes are split into one minute chunks called segments. * **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai). * **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda). -* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop). +* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop). diff --git a/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md index b3c56c8410..6fab2b979b 100644 --- a/docs/getting-started/what-is-openpilot.md +++ b/docs/getting-started/what-is-openpilot.md @@ -5,7 +5,7 @@ ## How do I use it? -openpilot is designed to be used on the comma 3X. +openpilot is designed to be used on the comma four. ## How does it work? diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md index 5f02e11599..f0e45b19af 100644 --- a/docs/how-to/connect-to-comma.md +++ b/docs/how-to/connect-to-comma.md @@ -1,19 +1,20 @@ -# connect to a comma 3X +# Connect to comma 3X or comma four -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 four 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. +On the comma 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. -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. - -On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script. +The serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script. * Username: `comma` * Password: `comma` +> [!NOTE] +> Serial console access through the OBD-C port is not available on the comma four. On comma four devices, serial access requires opening the device to access the internal debug connector. + ## SSH In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys. @@ -34,7 +35,7 @@ For doing development work on device, it's recommended to use [SSH agent forward In order to use ADB on your device, you'll need to perform the following steps using the image below for reference: -![comma 3/3x back](../assets/three-back.svg) +![comma four ports](../assets/four-ports.svg) * Plug your device into constant power using port 2, letting the device boot up * Enable ADB in your device's settings @@ -45,7 +46,7 @@ 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 four. For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb). diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md index b0db36a46f..a11b29dcc4 100644 --- a/docs/how-to/replay-a-drive.md +++ b/docs/how-to/replay-a-drive.md @@ -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 four* 1. Connect your PC to a jungle. 2. diff --git a/mkdocs.yml b/mkdocs.yml index 550f807aca..f54c6e39bb 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -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 3X or comma four: 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: diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md index 83b8a994db..172cf700e4 100644 --- a/selfdrive/debug/README.md +++ b/selfdrive/debug/README.md @@ -52,7 +52,7 @@ optional arguments: -h, --help show this help message and exit --debug enable ISO-TP/UDS stack debugging output -This tool is meant to run directly on a vehicle-installed comma three, with +This tool is meant to run directly on a vehicle-installed comma four, with the openpilot/tmux processes stopped. It should also work on a separate PC with a USB- attached comma panda. Vehicle ignition must be on. Recommend engine not be running when making changes. Must turn ignition off and on again for any changes to take effect. diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md index 2f7498a07c..f75ebbf0fb 100644 --- a/tools/camerastream/README.md +++ b/tools/camerastream/README.md @@ -49,7 +49,7 @@ usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr Decode video streams and broadcast on VisionIPC positional arguments: - addr Address of comma three + addr Address of comma four options: -h, --help show this help message and exit diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py index 11d17e587e..8fe28ec0f0 100755 --- a/tools/joystick/joystick_control.py +++ b/tools/joystick/joystick_control.py @@ -42,7 +42,7 @@ class Keyboard: class Joystick: def __init__(self): - # This class supports a PlayStation 5 DualSense controller on the comma 3X + # This class supports a PlayStation 5 DualSense controller on the comma four # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it self.cancel_button = 'BTN_NORTH' # BTN_NORTH=X/triangle if HARDWARE.get_device_type() == 'pc': @@ -123,7 +123,7 @@ def main(): if __name__ == '__main__': parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' + 'openpilot must be offroad before starting joystick_control. This tool supports ' + - 'a PlayStation 5 DualSense controller on the comma 3X.', + 'a PlayStation 5 DualSense controller on the comma four.', formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick') args = parser.parse_args() diff --git a/tools/replay/README.md b/tools/replay/README.md index 794c08f6a3..97ee91d988 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -101,7 +101,7 @@ tools/plotjuggler/juggle.py --stream ## watch3 -watch all three cameras simultaneously from your comma three routes with watch3 +watch all three cameras simultaneously from your comma four routes with watch3 simply replay a route using the `--dcam` and `--ecam` flags: From adf6f28ebf31fc3dcc502a5d761bf113d0d46546 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 20 Jan 2026 15:34:57 -0800 Subject: [PATCH 077/144] LatcontrolTorque: always fill buffer (#36991) --- selfdrive/controls/lib/latcontrol_torque.py | 17 +++++++++-------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 0ba38736db..1f7fb4dfa4 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -59,27 +59,28 @@ class LatControlTorque(LatControl): def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay): pid_log = log.ControlsState.LateralTorqueState.new_message() pid_log.version = VERSION + measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + measurement = measured_curvature * CS.vEgo ** 2 + future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2 + self.lat_accel_request_buffer.append(future_desired_lateral_accel) + if not active: output_torque = 0.0 pid_log.active = False else: - measured_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)) lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len)) + delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len)) expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames] + setpoint = expected_lateral_accel + error = setpoint - measurement + lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2)) raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt) desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk) - future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2 - self.lat_accel_request_buffer.append(future_desired_lateral_accel) gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation - setpoint = expected_lateral_accel - - measurement = measured_curvature * CS.vEgo ** 2 - error = setpoint - measurement # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly pid_log.error = float(error) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c109bf49f1..274bec8b4f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b259f6f8f099a9d82e4c65dd5deae2e4e293007b \ No newline at end of file +cdd8ecaf03b0581d6a4df7659b916f3d22167a23 \ No newline at end of file From 79472cdf83c65345e666f40069ac34082bb4be84 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 Jan 2026 16:04:05 -0800 Subject: [PATCH 078/144] Revert "docs: comma 3X to comma four (#37009)" This reverts commit a7dfd36c00c910b694dfd3e2b3f6e0a8cc892802. --- README.md | 8 ++++---- docs/CONTRIBUTING.md | 8 ++++---- docs/assets/four-ports.svg | 3 --- docs/concepts/glossary.md | 2 +- docs/getting-started/what-is-openpilot.md | 2 +- docs/how-to/connect-to-comma.md | 17 ++++++++--------- docs/how-to/replay-a-drive.md | 2 +- mkdocs.yml | 2 +- selfdrive/debug/README.md | 2 +- tools/camerastream/README.md | 2 +- tools/joystick/joystick_control.py | 4 ++-- tools/replay/README.md | 2 +- 12 files changed, 25 insertions(+), 29 deletions(-) delete mode 100644 docs/assets/four-ports.svg diff --git a/README.md b/README.md index 158bb08c49..a77a80935d 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,7 @@ · Community · - Try it on a comma four + Try it on a comma 3X Quick start: `bash <(curl -fsSL openpilot.comma.ai)` @@ -42,10 +42,10 @@ Using openpilot in a car ------ To use openpilot in a car, you need four things: -1. **Supported Device:** a comma four, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). -2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. +1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). +2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md). -4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car. +4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car. We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play. diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index d189324ff7..7583095eaf 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu ## What contributions are we looking for? **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** -openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. +openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. ### What gets merged? The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. If a PR offers *some* value but will take lots of time to get merged, it will be closed. -Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. +Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. All of these are examples of good PRs: * typo fix: https://github.com/commaai/openpilot/pull/30678 @@ -29,7 +29,7 @@ All of these are examples of good PRs: ### What doesn't get merged? -* **style changes**: code is art, and it's up to the author to make it beautiful +* **style changes**: code is art, and it's up to the author to make it beautiful * **500+ line PRs**: clean it up, break it up into smaller PRs, or both * **PRs without a clear goal**: every PR must have a singular and clear goal * **UI design**: we do not have a good review process for this yet @@ -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 four or a car. +There's lot of bounties that don't require a comma 3X or a car. ## Pull Requests diff --git a/docs/assets/four-ports.svg b/docs/assets/four-ports.svg deleted file mode 100644 index 7bab31abf3..0000000000 --- a/docs/assets/four-ports.svg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:494bd79c4d81d8bf766845cb451fa14e5b9ad931ff8aa90daea0ba67e164abe3 -size 105562 diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md index df9e9aa080..a09b0f0785 100644 --- a/docs/concepts/glossary.md +++ b/docs/concepts/glossary.md @@ -6,4 +6,4 @@ * **segment**: routes are split into one minute chunks called segments. * **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai). * **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda). -* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop). +* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop). diff --git a/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md index 6fab2b979b..b3c56c8410 100644 --- a/docs/getting-started/what-is-openpilot.md +++ b/docs/getting-started/what-is-openpilot.md @@ -5,7 +5,7 @@ ## How do I use it? -openpilot is designed to be used on the comma four. +openpilot is designed to be used on the comma 3X. ## How does it work? diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md index f0e45b19af..5f02e11599 100644 --- a/docs/how-to/connect-to-comma.md +++ b/docs/how-to/connect-to-comma.md @@ -1,20 +1,19 @@ -# Connect to comma 3X or comma four +# connect to a comma 3X -A comma four 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 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 the comma 3X, the serial console is accessible from the main OBD-C port. +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. -The serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script. +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. + +On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script. * Username: `comma` * Password: `comma` -> [!NOTE] -> Serial console access through the OBD-C port is not available on the comma four. On comma four devices, serial access requires opening the device to access the internal debug connector. - ## SSH In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys. @@ -35,7 +34,7 @@ For doing development work on device, it's recommended to use [SSH agent forward In order to use ADB on your device, you'll need to perform the following steps using the image below for reference: -![comma four ports](../assets/four-ports.svg) +![comma 3/3x back](../assets/three-back.svg) * Plug your device into constant power using port 2, letting the device boot up * Enable ADB in your device's settings @@ -46,7 +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 four. +> The default port for ADB is 5555 on the comma 3X. For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb). diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md index a11b29dcc4..b0db36a46f 100644 --- a/docs/how-to/replay-a-drive.md +++ b/docs/how-to/replay-a-drive.md @@ -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 four* +*Hardware required: jungle and comma 3X* 1. Connect your PC to a jungle. 2. diff --git a/mkdocs.yml b/mkdocs.yml index f54c6e39bb..550f807aca 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -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 or comma four: how-to/connect-to-comma.md + - Connect to a comma 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: diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md index 172cf700e4..83b8a994db 100644 --- a/selfdrive/debug/README.md +++ b/selfdrive/debug/README.md @@ -52,7 +52,7 @@ optional arguments: -h, --help show this help message and exit --debug enable ISO-TP/UDS stack debugging output -This tool is meant to run directly on a vehicle-installed comma four, with +This tool is meant to run directly on a vehicle-installed comma three, with the openpilot/tmux processes stopped. It should also work on a separate PC with a USB- attached comma panda. Vehicle ignition must be on. Recommend engine not be running when making changes. Must turn ignition off and on again for any changes to take effect. diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md index f75ebbf0fb..2f7498a07c 100644 --- a/tools/camerastream/README.md +++ b/tools/camerastream/README.md @@ -49,7 +49,7 @@ usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr Decode video streams and broadcast on VisionIPC positional arguments: - addr Address of comma four + addr Address of comma three options: -h, --help show this help message and exit diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py index 8fe28ec0f0..11d17e587e 100755 --- a/tools/joystick/joystick_control.py +++ b/tools/joystick/joystick_control.py @@ -42,7 +42,7 @@ class Keyboard: class Joystick: def __init__(self): - # This class supports a PlayStation 5 DualSense controller on the comma four + # This class supports a PlayStation 5 DualSense controller on the comma 3X # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it self.cancel_button = 'BTN_NORTH' # BTN_NORTH=X/triangle if HARDWARE.get_device_type() == 'pc': @@ -123,7 +123,7 @@ def main(): if __name__ == '__main__': parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' + 'openpilot must be offroad before starting joystick_control. This tool supports ' + - 'a PlayStation 5 DualSense controller on the comma four.', + 'a PlayStation 5 DualSense controller on the comma 3X.', formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick') args = parser.parse_args() diff --git a/tools/replay/README.md b/tools/replay/README.md index 97ee91d988..794c08f6a3 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -101,7 +101,7 @@ tools/plotjuggler/juggle.py --stream ## watch3 -watch all three cameras simultaneously from your comma four routes with watch3 +watch all three cameras simultaneously from your comma three routes with watch3 simply replay a route using the `--dcam` and `--ecam` flags: From bc979ea6aa858a811b8ecb75485577ecf10f251d Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Tue, 20 Jan 2026 16:16:38 -0800 Subject: [PATCH 079/144] Latcontrol torque test: ensure desired lateral accel buffer is consistent (#37004) --- .../tests/test_latcontrol_torque_buffer.py | 36 +++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 selfdrive/controls/tests/test_latcontrol_torque_buffer.py diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py new file mode 100644 index 0000000000..76d0c28423 --- /dev/null +++ b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py @@ -0,0 +1,36 @@ +from parameterized import parameterized + +from cereal import car, log +from opendbc.car.car_helpers import interfaces +from opendbc.car.toyota.values import CAR as TOYOTA +from opendbc.car.vehicle_model import VehicleModel +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque, LAT_ACCEL_REQUEST_BUFFER_SECONDS + +def get_controller(car_name): + CarInterface = interfaces[car_name] + CP = CarInterface.get_non_essential_params(car_name) + CI = CarInterface(CP) + VM = VehicleModel(CP) + controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL) + return controller, VM + +class TestLatControlTorqueBuffer: + + @parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)]) + def test_request_buffer_consistency(self, car_name): + buffer_steps = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / DT_CTRL) + controller, VM = get_controller(car_name) + + CS = car.CarState.new_message() + CS.vEgo = 30 + CS.steeringPressed = False + params = log.LiveParametersData.new_message() + + for _ in range(buffer_steps): + controller.update(True, CS, VM, params, False, 0.001, False, 0.2) + assert all(val != 0 for val in controller.lat_accel_request_buffer) + + for _ in range(buffer_steps): + controller.update(False, CS, VM, params, False, 0.0, False, 0.2) + assert all(val == 0 for val in controller.lat_accel_request_buffer) From c9cfe2c7273074a350a39fd4d78d16933cb6a81f Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Wed, 21 Jan 2026 12:32:56 -0800 Subject: [PATCH 080/144] LatcontrolTorque: move jerk calculation and filtering outside if else (#37011) --- selfdrive/controls/lib/latcontrol_torque.py | 36 ++++++++++----------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 1f7fb4dfa4..903700d4b3 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -64,30 +64,30 @@ class LatControlTorque(LatControl): future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2 self.lat_accel_request_buffer.append(future_desired_lateral_accel) + 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)) + lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 + + delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len)) + expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames] + setpoint = expected_lateral_accel + error = setpoint - measurement + + lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2)) + raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt) + desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk) + gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation + ff = gravity_adjusted_future_lateral_accel + # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll + ff -= self.torque_params.latAccelOffset + ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) + if not active: output_torque = 0.0 pid_log.active = False else: - 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)) - lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - - delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len)) - expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames] - setpoint = expected_lateral_accel - error = setpoint - measurement - - lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2)) - raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt) - desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk) - gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation - # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly pid_log.error = float(error) - ff = gravity_adjusted_future_lateral_accel - # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll - ff -= self.torque_params.latAccelOffset - ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 274bec8b4f..7b9039180c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cdd8ecaf03b0581d6a4df7659b916f3d22167a23 \ No newline at end of file +77951c4ccd0916b87c8dfda9faa33cd2d5d2cc11 \ No newline at end of file From 1459d3519da2fdb2d981baf7811c2eaa2127eb80 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 22 Jan 2026 18:41:08 -0800 Subject: [PATCH 081/144] DM: Ford GT model (#37013) * b483cec4-7816-4570-a774-be3a2c100098/50 * shipfest * da4b8724-8998-45da-aa36-d8fb390492b9 * revert * typo * deprecates --- cereal/log.capnp | 4 +-- .../modeld/models/dmonitoring_model.onnx | 4 +-- selfdrive/monitoring/helpers.py | 25 +++---------------- 3 files changed, 8 insertions(+), 25 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 2f300881b1..12bef17b95 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2227,9 +2227,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 { isActiveMode @16 :Bool; isRHD @4 :Bool; uncertainCount @19 :UInt32; - phoneProbOffset @20 :Float32; - phoneProbValidCount @21 :UInt32; + phoneProbOffsetDEPRECATED @20 :Float32; + phoneProbValidCountDEPRECATED @21 :UInt32; isPreviewDEPRECATED @15 :Bool; rhdCheckedDEPRECATED @5 :Bool; eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 9b1c4a1834..4052a15481 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59 -size 6954368 +oid sha256:35e4a5d4c4d481f915e42358af4665b2c92b8f5c1efd1c0731f21b876ad1d856 +size 6954249 diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 3377ce6c68..0b54504b64 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -35,14 +35,7 @@ class DRIVER_MONITOR_SETTINGS: self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 self._BLINK_THRESHOLD = 0.865 - - self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4 - self._PHONE_THRESH2 = 15.0 - self._PHONE_MAX_OFFSET = 0.06 - self._PHONE_MIN_OFFSET = 0.025 - self._PHONE_DATA_AVG = 0.05 - self._PHONE_DATA_VAR = 3*0.005 - self._PHONE_MAX_COUNT = int(360 / self._DT_DMON) + self._PHONE_THRESH = 0.5 self._POSE_PITCH_THRESHOLD = 0.3133 self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 @@ -152,11 +145,10 @@ class DriverMonitoring: # init driver status wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2) - phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2) self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT) - self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT) self.pose = DriverPose(settings=self.settings) self.blink = DriverBlink() + self.phone_prob = 0. self.always_on = always_on self.distracted_types = [] @@ -257,12 +249,7 @@ class DriverMonitoring: if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: distracted_types.append(DistractedType.DISTRACTED_BLINK) - if self.phone.prob_calibrated: - using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \ - * self.settings._PHONE_THRESH2 - else: - using_phone = self.phone.prob > self.settings._PHONE_THRESH - if using_phone: + if self.phone_prob > self.settings._PHONE_THRESH: distracted_types.append(DistractedType.DISTRACTED_PHONE) return distracted_types @@ -301,7 +288,7 @@ class DriverMonitoring: * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.phone.prob = driver_data.phoneProb + self.phone_prob = driver_data.phoneProb self.distracted_types = self._get_distracted_types() self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types @@ -315,11 +302,9 @@ class DriverMonitoring: if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted): self.pose.pitch_offseter.push_and_update(self.pose.pitch) self.pose.yaw_offseter.push_and_update(self.pose.yaw) - self.phone.prob_offseter.push_and_update(self.phone.prob) self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT - self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT if self.face_detected and not self.driver_distracted: if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD: @@ -425,8 +410,6 @@ class DriverMonitoring: "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n, "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(), "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n, - "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(), - "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n, "stepChange": self.step_change, "awarenessActive": self.awareness_active, "awarenessPassive": self.awareness_passive, From ba6e5f125dfa2f1e3fa3cd2a57be77de989fe3d6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 23 Jan 2026 00:24:15 -0800 Subject: [PATCH 082/144] Fix bridge w/ ZMQ (#37018) * fix * can also do this * 1 less +lines but more diff - Revert "can also do this" This reverts commit 8e18218099af6d3bc852d8ef0069b80d9322d6ca. --- cereal/messaging/bridge.cc | 3 ++- cereal/messaging/msgq_to_zmq.cc | 4 +++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc index 69ecd188e1..fb92c575c9 100644 --- a/cereal/messaging/bridge.cc +++ b/cereal/messaging/bridge.cc @@ -33,7 +33,8 @@ void zmq_to_msgq(const std::vector &endpoints, const std::string &i for (auto endpoint : endpoints) { auto pub_sock = new MSGQPubSocket(); auto sub_sock = new ZMQSubSocket(); - pub_sock->connect(pub_context.get(), endpoint); + size_t queue_size = services.at(endpoint).queue_size; + pub_sock->connect(pub_context.get(), endpoint, true, queue_size); sub_sock->connect(sub_context.get(), endpoint, ip, false); poller->registerSocket(sub_sock); diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc index ce626f2aad..7f8c738d4d 100644 --- a/cereal/messaging/msgq_to_zmq.cc +++ b/cereal/messaging/msgq_to_zmq.cc @@ -2,6 +2,7 @@ #include +#include "cereal/services.h" #include "common/util.h" extern ExitHandler do_exit; @@ -108,7 +109,8 @@ void MsgqToZmq::zmqMonitorThread() { if (++pair.connected_clients == 1) { // Create new MSGQ subscriber socket and map to ZMQ publisher pair.sub_sock = std::make_unique(); - pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1"); + size_t queue_size = services.at(pair.endpoint).queue_size; + pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size); sub2pub[pair.sub_sock.get()] = pair.pub_sock.get(); registerSockets(); } From 3715fe85aa76506e3be33505ef5dab64979d24e8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 23 Jan 2026 00:55:12 -0800 Subject: [PATCH 083/144] bump opendbc (#37019) --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 796ece26ac..1908668b05 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 796ece26acd8b9255810ca71941ed72626589ee7 +Subproject commit 1908668b05691564ea5fc80bc11b784a9dee0714 From 12220ec82dc50cd12e9df57e6c350ab0d774443e Mon Sep 17 00:00:00 2001 From: Matt Purnell <65473602+mpurnell1@users.noreply.github.com> Date: Fri, 23 Jan 2026 19:11:23 -0600 Subject: [PATCH 084/144] cereal: update msgq imports (#36833) Update outdated reference Co-authored-by: Adeeb Shihadeh --- cereal/messaging/__init__.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index d5033cd634..2c925b4cc4 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -1,10 +1,8 @@ # must be built with scons -from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ - set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event -from msgq.ipc_pyx import MultiplePublishersError, IpcError -from msgq import fake_event_handle, drain_sock_raw +from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \ + Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ + set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event import msgq - import os import capnp import time From a0a5c9b9ca19833e7fac3b73c3c25899aa11e49b Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 23 Jan 2026 22:49:10 -0500 Subject: [PATCH 085/144] ui: add `set_title` and improve state updates in `ListViewSP` (#1656) --- system/ui/sunnypilot/widgets/list_view.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py index 1241f8eda0..39e88169d2 100644 --- a/system/ui/sunnypilot/widgets/list_view.py +++ b/system/ui/sunnypilot/widgets/list_view.py @@ -192,6 +192,9 @@ class ListItemSP(ListItem): self._right_value_font = gui_app.font(FontWeight.NORMAL) self._right_value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR + def set_title(self, title: str | Callable[[], str] = ""): + self._title = title + def set_right_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR): self._right_value_source = value self._right_value_color = color @@ -202,6 +205,13 @@ class ListItemSP(ListItem): return "" return str(_resolve_value(self._right_value_source, "")) + def _update_state(self): + prev_desc = self._prev_description + super()._update_state() + if self.description_visible and self._prev_description != prev_desc: + content_width = int(self._rect.width - style.ITEM_PADDING * 2) + self._rect.height = self.get_item_height(self._font, content_width) + def get_item_height(self, font: rl.Font, max_width: int) -> float: height = super().get_item_height(font, max_width) From 2e788ae54dc2758215ffd725fe553316bab7d67a Mon Sep 17 00:00:00 2001 From: Nayan Date: Fri, 23 Jan 2026 22:55:50 -0500 Subject: [PATCH 086/144] [TIZI/TICI] ui: Steering panel (#1540) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b * bump opendbc * bump opendbc * bump opendbc * bump opendbc * bump opendbc * sunnypilot: remove Qt * cabana: revert to stock Qt * commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9 * commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e * commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e * sum more * bump opendbc * not yet * should've been symlink'ed * raylib says wut * quiet mode back * more fixes * no more * too extra red diff on the side * need to bring this back * too extra * let's update docs here * Revert "let's update docs here" This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851. * param to control stock vs sp ui * init styles * SP Toggles * Lint * optimizations * multi-button * Lint * param to control stock vs sp ui * init styles * SP Toggles * Lint * optimizations * Panels. With Icons. And Scroller. * patience, grasshopper * more patience, grasshopper * sp raylib preview * fix callback * fix ui preview * add ui previews * Option Control * Need this * sunnylink state * introducing ui_state_sp for py * poll from ui_state_sp * cloudlog & ruff * param to control stock vs sp ui * better * sponsor & pairing qr * init panel elements * backup & restore * fruit loops * update * enable, disable, enable, disable * handle layout updates * not needed * add ui_update callback * change it up * better padding * this * support for next line multi-button * uhh * disabled colors * better * listitem -> listitemsp * listitem -> listitemsp * Revert "add ui_update callback" This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958. * add show_description method * remove padding from line separator. like, WHY? 😩😩 * simplify * I. SAID. SIMPLIFY. * AAARGGGGGG..... * option control value fix * left button * more init * simple_button, yay * simple_button, yay * more more init * scroller -> scroller_tici * scroller -> scroller_tici * ui: `GuiApplicationExt` * simple button * simple button * add to readme * use gui_app.sunnypilot_ui() * use gui_app.sunnypilot_ui() * use gui_app.sunnypilot_ui() * optimizations * change order * subpanels * lane change timer * update toggles * update toggles * add cp_sp to ui_state * mads * add cp_sp to ui_state_sp * fix ui crash * update params * ui_state changes * descriptions * Update scroller.py * wrong pr * listen nessa, yes nessa * i've got something to confessa * some bs * # Conflicts: # selfdrive/ui/sunnypilot/layouts/settings/steering.py # selfdrive/ui/sunnypilot/layouts/settings/vehicle.py # system/ui/sunnypilot/widgets/list_view.py * sine * more * Delete selfdrive/ui/sunnypilot/layouts/vehicle_settings/platform_selector.py * Update styles.py * allow sunnylink * nah * more * sync * lint * revert * button is always shown, just disabled if off * revert * Fix SimpleButtonActionSP not respecting enabled state * some changes * new pr * some more * ui: `ButtonSP` * slight cleanup * fixes * no * fix * much better * ui: `LineSeparatorSP` * ui: add `inline` to `option_item_sp` * small cleanup mads * lane change * allow changing title * torque settings init * lont * more logic * import directly * more --------- Co-authored-by: Jason Wen Co-authored-by: DevTekVE Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: discountchubbs --- .../sunnypilot/layouts/settings/steering.py | 130 ++++++++++++++++- .../lane_change_settings.py | 81 +++++++++++ .../steering_sub_layouts/mads_settings.py | 135 ++++++++++++++++++ .../steering_sub_layouts/torque_settings.py | 115 +++++++++++++++ 4 files changed, 456 insertions(+), 5 deletions(-) create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py create mode 100644 selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/selfdrive/ui/sunnypilot/layouts/settings/steering.py index ac67eb9163..f82c4097c3 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py @@ -4,27 +4,147 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ -from openpilot.common.params import Params +from cereal import car +from enum import IntEnum + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, simple_button_item_sp, option_item_sp, LineSeparatorSP from openpilot.system.ui.widgets.scroller_tici import Scroller from openpilot.system.ui.widgets import Widget +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.lane_change_settings import LaneChangeSettingsLayout +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.mads_settings import MadsSettingsLayout +from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.torque_settings import TorqueSettingsLayout + + +class PanelType(IntEnum): + STEERING = 0 + MADS = 1 + LANE_CHANGE = 2 + TORQUE_CONTROL = 3 class SteeringLayout(Widget): def __init__(self): super().__init__() - self._params = Params() + self._current_panel = PanelType.STEERING + self._lane_change_settings_layout = LaneChangeSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING)) + self._mads_settings_layout = MadsSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING)) + self._torque_control_layout = TorqueSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING)) + items = self._initialize_items() - self._scroller = Scroller(items, line_separator=True, spacing=0) + self._scroller = Scroller(items, line_separator=False, spacing=0) def _initialize_items(self): - items = [ + self._mads_base_desc = tr("Enable the beloved MADS feature. " + + "Disable toggle to revert back to stock sunnypilot engagement/disengagement.") + self._mads_limited_desc = tr("This platform supports limited MADS settings.") + self._mads_full_desc = tr("This platform supports all MADS settings.") + self._mads_check_compat_desc = tr("Start the vehicle to check vehicle compatibility.") + self._mads_toggle = toggle_item_sp( + param="Mads", + title=lambda: tr("Modular Assistive Driving System (MADS)"), + description=self._mads_base_desc, + ) + self._mads_settings_button = simple_button_item_sp( + button_text=lambda: tr("Customize MADS"), + button_width=800, + callback=lambda: self._set_current_panel(PanelType.MADS) + ) + self._lane_change_settings_button = simple_button_item_sp( + button_text=lambda: tr("Customize Lane Change"), + button_width=800, + callback=lambda: self._set_current_panel(PanelType.LANE_CHANGE) + ) + self._blinker_control_toggle = toggle_item_sp( + param="BlinkerPauseLateralControl", + description=lambda: tr("Pause lateral control with blinker when traveling below the desired speed selected."), + title=lambda: tr("Pause Lateral Control with Blinker"), + ) + self._blinker_control_options = option_item_sp( + param="BlinkerMinLateralControlSpeed", + title=lambda: tr("Minimum Speed to Pause Lateral Control"), + min_value=0, + max_value=255, + value_change_step=5, + description="", + label_callback=lambda speed: f'{speed} {"km/h" if ui_state.is_metric else "mph"}', + ) + self._torque_control_toggle = toggle_item_sp( + param="EnforceTorqueControl", + title=lambda: tr("Enforce Torque Lateral Control"), + description=lambda: tr("Enable this to enforce sunnypilot to steer with Torque lateral control."), + ) + self._torque_customization_button = simple_button_item_sp( + button_text=lambda: tr("Customize Torque Params"), + button_width=850, + callback=lambda: self._set_current_panel(PanelType.TORQUE_CONTROL) + ) + self._nnlc_toggle = toggle_item_sp( + param="NeuralNetworkLateralControl", + title=lambda: tr("Neural Network Lateral Control (NNLC)"), + description="" + ) + + items = [ + self._mads_toggle, + self._mads_settings_button, + LineSeparatorSP(40), + self._lane_change_settings_button, + LineSeparatorSP(40), + self._blinker_control_toggle, + self._blinker_control_options, + LineSeparatorSP(40), + self._torque_control_toggle, + self._torque_customization_button, + LineSeparatorSP(40), + self._nnlc_toggle, ] return items + def _set_current_panel(self, panel: PanelType): + self._current_panel = panel + + def _update_state(self): + super()._update_state() + + torque_allowed = True + if ui_state.CP is not None: + mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc + self._mads_toggle.set_description(f"{mads_main_desc}

{self._mads_base_desc}") + + if ui_state.CP.steerControlType == car.CarParams.SteerControlType.angle: + ui_state.params.remove("EnforceTorqueControl") + ui_state.params.remove("NeuralNetworkLateralControl") + torque_allowed = False + else: + self._mads_toggle.set_description(f"{self._mads_check_compat_desc}

{self._mads_base_desc}") + ui_state.params.remove("EnforceTorqueControl") + ui_state.params.remove("NeuralNetworkLateralControl") + torque_allowed = False + + self._mads_toggle.action_item.set_enabled(ui_state.is_offroad()) + self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state()) + self._blinker_control_options.set_visible(self._blinker_control_toggle.action_item.get_state()) + + enforce_torque_enabled = self._torque_control_toggle.action_item.get_state() + nnlc_enabled = self._nnlc_toggle.action_item.get_state() + self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled) + self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled) + self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state()) + def _render(self, rect): - self._scroller.render(rect) + if self._current_panel == PanelType.LANE_CHANGE: + self._lane_change_settings_layout.render(rect) + elif self._current_panel == PanelType.MADS: + self._mads_settings_layout.render(rect) + elif self._current_panel == PanelType.TORQUE_CONTROL: + self._torque_control_layout.render(rect) + else: + self._scroller.render(rect) def show_event(self): + self._set_current_panel(PanelType.STEERING) self._scroller.show_event() diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py new file mode 100644 index 0000000000..9a5d5202a5 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py @@ -0,0 +1,81 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, LineSeparatorSP +from openpilot.system.ui.widgets.network import NavButton +from openpilot.system.ui.widgets.scroller_tici import Scroller +from openpilot.system.ui.widgets import Widget + +from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode + + +class LaneChangeSettingsLayout(Widget): + def __init__(self, back_btn_callback: Callable): + super().__init__() + self._back_button = NavButton(tr("Back")) + self._back_button.set_click_callback(back_btn_callback) + + items = self._initialize_items() + self._scroller = Scroller(items, line_separator=False, spacing=0) + + def _initialize_items(self): + self._lane_change_timer = option_item_sp( + title=lambda: tr("Auto Lane Change by Blinker"), + param="AutoLaneChangeTimer", + description=lambda: tr("Set a timer to delay the auto lane change operation when the blinker is used. " + + "No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
" + + "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit."), + min_value=-1, + max_value=5, + value_change_step=1, + label_callback=(lambda x: + tr("Off") if x == -1 else + tr("Nudge") if x == 0 else + tr("Nudgeless") if x == 1 else + f"0.5 {tr('s')}" if x == 2 else + f"1 {tr('s')}" if x == 3 else + f"2 {tr('s')}" if x == 4 else + f"3 {tr('s')}") + ) + self._bsm_delay = toggle_item_sp( + param="AutoLaneChangeBsmDelay", + title=lambda: tr("Auto Lane Change: Delay with Blind Spot"), + description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " + + "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."), + ) + + items = [ + self._lane_change_timer, + LineSeparatorSP(40), + self._bsm_delay, + ] + + return items + + def _update_state(self): + super()._update_state() + self._update_toggles() + + def _render(self, rect): + self._back_button.set_position(self._rect.x, self._rect.y + 20) + self._back_button.render() + # subtract button + content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40) + self._scroller.render(content_rect) + + def show_event(self): + self._scroller.show_event() + + def _update_toggles(self): + enable_bsm = ui_state.CP and ui_state.CP.enableBsm + if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"): + ui_state.params.remove("AutoLaneChangeBsmDelay") + self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py new file mode 100644 index 0000000000..d3f38e04d1 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py @@ -0,0 +1,135 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable +import pyray as rl + +from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr, tr_noop +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.network import NavButton +from openpilot.system.ui.widgets.scroller_tici import Scroller +from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp + +MADS_STEERING_MODE_OPTIONS = [ + (tr("Remain Active"), tr_noop("Remain Active: ALC will remain active when the brake pedal is pressed.")), + (tr("Pause"), tr_noop("Pause: ALC will pause when the brake pedal is pressed.")), + (tr("Disengage"), tr_noop("Disengage: ALC will disengage when the brake pedal is pressed.")), +] + +MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.") +MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = "{engage}

{note}

".format( + engage=tr("Engage lateral and longitudinal control with cruise control engagement."), + note=tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."), +) + +STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.") +DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.") +DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.") +STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.") + + +class MadsSettingsLayout(Widget): + def __init__(self, back_btn_callback: Callable): + super().__init__() + self._back_button = NavButton(tr("Back")) + self._back_button.set_click_callback(back_btn_callback) + self._initialize_items() + self._scroller = Scroller(self.items, line_separator=True, spacing=0) + + def _initialize_items(self): + self._main_cruise_toggle = toggle_item_sp( + title=lambda: tr("Toggle with Main Cruise"), + description=MADS_MAIN_CRUISE_BASE_DESC, + param="MadsMainCruiseAllowed", + ) + self._unified_engagement_toggle = toggle_item_sp( + title=lambda: tr("Unified Engagement Mode (UEM)"), + description=MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC, + param="MadsUnifiedEngagementMode" + ) + self._steering_mode = multiple_button_item_sp( + param="MadsSteeringMode", + title=lambda: tr("Steering Mode on Brake Pedal"), + description="", + buttons=[opt[0] for opt in MADS_STEERING_MODE_OPTIONS], + inline=False, + button_width=350, + callback=self._update_steering_mode_description, + ) + + self.items = [ + self._main_cruise_toggle, + self._unified_engagement_toggle, + self._steering_mode, + ] + + def _update_state(self): + super()._update_state() + self._update_toggles() + + def _render(self, rect): + self._back_button.set_position(self._rect.x, self._rect.y + 20) + self._back_button.render() + # subtract button + content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40) + self._scroller.render(content_rect) + + def show_event(self): + self._scroller.show_event() + + @staticmethod + def _mads_limited_settings() -> bool: + brand = "" + if ui_state.is_offroad(): + bundle = ui_state.params.get("CarPlatformBundle") + if bundle: + brand = bundle.get("brand", "") + if not brand: + brand = ui_state.CP.brand if ui_state.CP else "" + + if brand == "rivian": + return True + elif brand == "tesla": + return not (ui_state.CP_SP and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS) + return False + + def _update_steering_mode_description(self, button_index: int): + base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.") + result = base_desc + "

" + for opt in MADS_STEERING_MODE_OPTIONS: + desc = "" + opt[1] + "" if button_index == MADS_STEERING_MODE_OPTIONS.index(opt) else opt[1] + result += desc + "
" + self._steering_mode.set_description(result) + self._steering_mode.show_description(True) + + def _update_toggles(self): + self._update_steering_mode_description(self._steering_mode.action_item.get_selected_button()) + if self._mads_limited_settings(): + ui_state.params.remove("MadsMainCruiseAllowed") + ui_state.params.put_bool("MadsUnifiedEngagementMode", True) + ui_state.params.put("MadsSteeringMode", 2) + + self._main_cruise_toggle.action_item.set_enabled(False) + self._main_cruise_toggle.action_item.set_state(False) + self._main_cruise_toggle.set_description("" + DEFAULT_TO_OFF + "
" + MADS_MAIN_CRUISE_BASE_DESC) + + self._unified_engagement_toggle.action_item.set_enabled(False) + self._unified_engagement_toggle.action_item.set_state(True) + self._unified_engagement_toggle.set_description("" + DEFAULT_TO_ON + "
" + MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC) + + self._steering_mode.action_item.set_enabled(False) + self._steering_mode.set_description(STATUS_DISENGAGE_ONLY) + self._steering_mode.action_item.set_selected_button(2) + else: + self._main_cruise_toggle.action_item.set_enabled(True) + self._main_cruise_toggle.set_description(MADS_MAIN_CRUISE_BASE_DESC) + + self._unified_engagement_toggle.action_item.set_enabled(True) + self._unified_engagement_toggle.set_description(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC) + + self._steering_mode.action_item.set_enabled(True) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py new file mode 100644 index 0000000000..dceee8b518 --- /dev/null +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py @@ -0,0 +1,115 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp +from openpilot.system.ui.widgets.network import NavButton +from openpilot.system.ui.widgets.scroller_tici import Scroller +from openpilot.system.ui.widgets import Widget + + +class TorqueSettingsLayout(Widget): + def __init__(self, back_btn_callback: Callable): + super().__init__() + self._back_button = NavButton(tr("Back")) + self._back_button.set_click_callback(back_btn_callback) + items = self._initialize_items() + self._scroller = Scroller(items, line_separator=True, spacing=0) + + def _initialize_items(self): + self._self_tune_toggle = toggle_item_sp( + param="LiveTorqueParamsToggle", + title=lambda: tr("Self-Tune"), + description=lambda: tr("Enables self-tune for Torque lateral control for platforms that do not use " + + "Torque lateral control by default."), + ) + self._relaxed_tune_toggle = toggle_item_sp( + param="LiveTorqueParamsRelaxedToggle", + title=lambda: tr("Less Restrict Settings for Self-Tune (Beta)"), + description=lambda: tr("Less strict settings when using Self-Tune. This allows torqued to be more " + + "forgiving when learning values."), + ) + self._custom_tune_toggle = toggle_item_sp( + param="CustomTorqueParams", + title=lambda: tr("Enable Custom Tuning"), + description=lambda: tr("Enables custom tuning for Torque lateral control. " + + "Modifying Lateral Acceleration Factor and Friction below will override the offline values " + + "indicated in the YAML files within \"opendbc/car/torque_data\". " + + "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."), + ) + self._torque_prams_override_toggle = toggle_item_sp( + param="TorqueParamsOverrideEnabled", + title=lambda: tr("Manual Real-Time Tuning"), + description=lambda: tr("Enforces the torque lateral controller to use the fixed values instead of the learned " + + "values from Self-Tune. Enabling this toggle overrides Self-Tune values."), + ) + self._torque_lat_accel_factor = option_item_sp( + title=lambda: tr("Lateral Acceleration Factor"), + param="TorqueParamsOverrideLatAccelFactor", + description="", + min_value=1, + max_value=500, + value_change_step=1, + label_callback=(lambda x: f"{x/100} m/s^2"), + use_float_scaling=True + ) + + self._torque_friction = option_item_sp( + title=lambda: tr("Friction"), + param="TorqueParamsOverrideFriction", + description="", + min_value=1, + max_value=100, + value_change_step=1, + label_callback=(lambda x: f"{x/100}"), + use_float_scaling=True + ) + + items = [ + self._self_tune_toggle, + self._relaxed_tune_toggle, + self._custom_tune_toggle, + self._torque_prams_override_toggle, + self._torque_lat_accel_factor, + self._torque_friction, + ] + return items + + def _update_state(self): + super()._update_state() + if not ui_state.params.get_bool("LiveTorqueParamsToggle"): + ui_state.params.remove("LiveTorqueParamsRelaxedToggle") + self._relaxed_tune_toggle.action_item.set_state(False) + self._self_tune_toggle.action_item.set_enabled(ui_state.is_offroad()) + self._relaxed_tune_toggle.action_item.set_enabled(ui_state.is_offroad() and self._self_tune_toggle.action_item.get_state()) + self._custom_tune_toggle.action_item.set_enabled(ui_state.is_offroad()) + custom_tune_enabled = self._custom_tune_toggle.action_item.get_state() + self._torque_prams_override_toggle.set_visible(custom_tune_enabled) + self._torque_lat_accel_factor.set_visible(custom_tune_enabled) + self._torque_friction.set_visible(custom_tune_enabled) + + self._torque_prams_override_toggle.action_item.set_enabled(ui_state.is_offroad()) + sliders_enabled = self._torque_prams_override_toggle.action_item.get_state() or ui_state.is_offroad() + self._torque_lat_accel_factor.action_item.set_enabled(sliders_enabled) + self._torque_friction.action_item.set_enabled(sliders_enabled) + + title_text = tr("Real-Time & Offline") if ui_state.params.get("TorqueParamsOverrideEnabled") else tr("Offline Only") + self._torque_lat_accel_factor.set_title(lambda: tr("Lateral Acceleration Factor") + " (" + title_text + ")") + self._torque_friction.set_title(lambda: tr("Friction") + " (" + title_text + ")") + + def _render(self, rect): + self._back_button.set_position(self._rect.x, self._rect.y + 20) + self._back_button.render() + # subtract button + content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40) + self._scroller.render(content_rect) + + def show_event(self): + self._scroller.show_event() From 560ed80123caa15ee9a7f81ecd57f05815ba857e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Sat, 24 Jan 2026 04:04:54 +0000 Subject: [PATCH 087/144] tools: seekable URLFile (#37022) * Make URLFile seekable * Return value in seek --- tools/lib/url_file.py | 21 +++++++++++++++++++-- 1 file changed, 19 insertions(+), 2 deletions(-) diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 790fa7e8fb..8e2f0a9222 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -192,8 +192,25 @@ class URLFile: raise URLFileException(f"Expected {len(ranges)} parts, got {len(parts)} ({self._url})") return parts - def seek(self, pos: int) -> None: - self._pos = int(pos) + def seekable(self) -> bool: + return True + + def seek(self, pos: int, whence: int = 0) -> int: + pos = int(pos) + if whence == os.SEEK_SET: + self._pos = pos + elif whence == os.SEEK_CUR: + self._pos += pos + elif whence == os.SEEK_END: + length = self.get_length() + assert length != -1, "Cannot seek from end on unknown length file" + self._pos = length + pos + else: + raise URLFileException("Invalid whence value") + return self._pos + + def tell(self) -> int: + return self._pos @property def name(self) -> str: From 8c36739ebd346f3a52e89978f4dcf657841b61da Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 23 Jan 2026 21:27:12 -0700 Subject: [PATCH 088/144] [TIZI/TICI] ui: Rocket Fuel (#1337) * rocket * raylib * extra --------- Co-authored-by: Jason Wen --- common/params_keys.h | 1 + .../ui/sunnypilot/onroad/hud_renderer.py | 5 +++ selfdrive/ui/sunnypilot/onroad/rocket_fuel.py | 45 +++++++++++++++++++ selfdrive/ui/sunnypilot/ui_state.py | 1 + sunnypilot/sunnylink/params_metadata.json | 4 ++ 5 files changed, 56 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/rocket_fuel.py diff --git a/common/params_keys.h b/common/params_keys.h index e042113927..ecc656cc78 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -173,6 +173,7 @@ inline static std::unordered_map keys = { {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}}, {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}}, {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}}, + {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}}, {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}}, {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}}, {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}}, diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 33582df191..9a29a97b9f 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -6,15 +6,20 @@ See the LICENSE.md file in the root directory for more details. """ import pyray as rl +from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel class HudRendererSP(HudRenderer): def __init__(self): super().__init__() self.developer_ui = DeveloperUiRenderer() + self.rocket_fuel = RocketFuel() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) self.developer_ui.render(rect) + if ui_state.rocket_fuel: + self.rocket_fuel.render(rect, ui_state.sm) diff --git a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py new file mode 100644 index 0000000000..af25711a92 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py @@ -0,0 +1,45 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + + +class RocketFuel: + def __init__(self): + self.vc_accel = 0.0 + + def render(self, rect: rl.Rectangle, sm) -> None: + vc_accel0 = sm['carState'].aEgo + + # Smooth the acceleration + self.vc_accel = self.vc_accel + (vc_accel0 - self.vc_accel) / 5.0 + + hha = 0.0 + color = rl.Color(0, 0, 0, 0) # Transparent by default + + if self.vc_accel > 0: + hha = 0.85 - 0.1 / self.vc_accel # only extend up to 85% + color = rl.Color(0, 245, 0, 200) + elif self.vc_accel < 0: + hha = 0.85 + 0.1 / self.vc_accel # only extend up to 85% + color = rl.Color(245, 0, 0, 200) + + if hha < 0: + hha = 0.0 + + hha = hha * rect.height + wp = 28.0 + + # Draw + rect_h = rect.height + + if self.vc_accel > 0: + ra_y = rect_h / 2.0 - hha / 2.0 + else: + ra_y = rect_h / 2.0 + + if hha > 0: + rl.draw_rectangle(int(rect.x), int(rect.y + ra_y), int(wp), int(hha / 2.0), color) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 2644c157ad..9ef4e1d7c8 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -122,6 +122,7 @@ class UIStateSP: self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP) self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled") self.developer_ui = self.params.get("DevUIInfo") + self.rocket_fuel = self.params.get_bool("RocketFuel") self.rainbow_path = self.params.get_bool("RainbowMode") self.chevron_metrics = self.params.get("ChevronInfo") self.active_bundle = self.params.get("ModelManager_ActiveBundle") diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index e4390586bc..7f597a9621 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -1082,6 +1082,10 @@ "title": "Display Road Name", "description": "" }, + "RocketFuel": { + "title": "Display Rocket Fuel Bar", + "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration." + }, "RouteCount": { "title": "Route Count", "description": "" From 76d50df4665ec83e1dc6d9fc6502fbf90d5d8d94 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 23 Jan 2026 22:46:00 -0700 Subject: [PATCH 089/144] [TIZI/TICI] ui: MICI style turn signals (#1504) * mici turn signal for c3x * sp dir * decouple * more * ty * refactor and slim down * bigger --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/onroad/hud_renderer.py | 9 ++ selfdrive/ui/sunnypilot/onroad/turn_signal.py | 125 ++++++++++++++++++ 2 files changed, 134 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/turn_signal.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 9a29a97b9f..0155e38a6e 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel +from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController class HudRendererSP(HudRenderer): @@ -17,9 +18,17 @@ class HudRendererSP(HudRenderer): super().__init__() self.developer_ui = DeveloperUiRenderer() self.rocket_fuel = RocketFuel() + self.turn_signal_controller = TurnSignalController() + + def _update_state(self) -> None: + super()._update_state() + self.turn_signal_controller.update() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) self.developer_ui.render(rect) + + self.turn_signal_controller.render() + if ui_state.rocket_fuel: self.rocket_fuel.render(rect, ui_state.sm) diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py new file mode 100644 index 0000000000..ad14e72f5a --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -0,0 +1,125 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl +import time +from dataclasses import dataclass + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.mici.onroad.alert_renderer import IconSide, TURN_SIGNAL_BLINK_PERIOD +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.widgets import Widget +from openpilot.common.filter_simple import FirstOrderFilter + + +@dataclass(frozen=True) +class TurnSignalConfig: + left_x: int = 870 + left_y: int = 220 + right_x: int = 1140 + right_y: int = 220 + size: int = 150 + + +class TurnSignalWidget(Widget): + def __init__(self, direction: IconSide): + super().__init__() + self._direction = direction + self._active = False + + self._turn_signal_timer = 0.0 + self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps) + + texture_path = f'icons_mici/onroad/turn_signal_{direction}.png' + self._texture = gui_app.texture(texture_path, 120, 109) + + def _render(self, _): + if not self._active: + return + + if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD: + self._turn_signal_timer = time.monotonic() + self._turn_signal_alpha_filter.x = 255 * 2 + else: + self._turn_signal_alpha_filter.update(255 * 0.2) + + icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255)) + + if self._texture: + pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2) + pos_y = int(self._rect.y + (self._rect.height - self._texture.height) / 2) + color = rl.Color(255, 255, 255, icon_alpha) + rl.draw_texture(self._texture, pos_x, pos_y, color) + + def activate(self): + if not self._active: + self._turn_signal_timer = 0.0 + self._active = True + + def deactivate(self): + self._active = False + self._turn_signal_timer = 0.0 + + +class TurnSignalController: + def __init__(self, config: TurnSignalConfig | None = None): + self._config = config or TurnSignalConfig() + self._left_signal = TurnSignalWidget(direction=IconSide.left) + self._right_signal = TurnSignalWidget(direction=IconSide.right) + self._last_icon_side = None + + def update(self): + sm = ui_state.sm + ss = sm['selfdriveState'] + + event_name = ss.alertType.split('/')[0] if ss.alertType else '' + + if event_name == 'preLaneChangeLeft': + self._last_icon_side = IconSide.left + self._left_signal.activate() + self._right_signal.deactivate() + + elif event_name == 'preLaneChangeRight': + self._last_icon_side = IconSide.right + self._right_signal.activate() + self._left_signal.deactivate() + + elif event_name == 'laneChange': + if self._last_icon_side == IconSide.left: + self._left_signal.activate() + self._right_signal.deactivate() + elif self._last_icon_side == IconSide.right: + self._right_signal.activate() + self._left_signal.deactivate() + + else: + self._last_icon_side = None + self._left_signal.deactivate() + self._right_signal.deactivate() + + def render(self): + if self._last_icon_side == IconSide.left: + self._left_signal.render(rl.Rectangle( + self._config.left_x, + self._config.left_y, + self._config.size, + self._config.size + )) + elif self._last_icon_side == IconSide.right: + self._right_signal.render(rl.Rectangle( + self._config.right_x, + self._config.right_y, + self._config.size, + self._config.size + )) + + @property + def config(self) -> TurnSignalConfig: + return self._config + + @config.setter + def config(self, new_config: TurnSignalConfig): + self._config = new_config From 1bd3255f14f9e32bca542778652e979412538972 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 24 Jan 2026 01:04:25 -0500 Subject: [PATCH 090/144] [TIZI/TICI] ui: MICI style blindspot indicators (#1657) * introduce blinker * add blind spot * bigger * nah * lint --- selfdrive/ui/sunnypilot/onroad/turn_signal.py | 71 ++++++++++++++----- 1 file changed, 54 insertions(+), 17 deletions(-) diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py index ad14e72f5a..4e5f1183d8 100644 --- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -29,24 +29,30 @@ class TurnSignalWidget(Widget): super().__init__() self._direction = direction self._active = False + self._type = 'signal' self._turn_signal_timer = 0.0 self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps) - texture_path = f'icons_mici/onroad/turn_signal_{direction}.png' - self._texture = gui_app.texture(texture_path, 120, 109) + self._signal_texture = gui_app.texture(f'icons_mici/onroad/turn_signal_{direction}.png', 120, 109) + self._blind_spot_texture = gui_app.texture(f'icons_mici/onroad/blind_spot_{direction}.png', 120, 109) + self._texture = self._signal_texture def _render(self, _): if not self._active: return - if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD: - self._turn_signal_timer = time.monotonic() - self._turn_signal_alpha_filter.x = 255 * 2 + if self._type == 'signal': + if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD: + self._turn_signal_timer = time.monotonic() + self._turn_signal_alpha_filter.x = 255 * 2 + else: + self._turn_signal_alpha_filter.update(255 * 0.2) + icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255)) else: - self._turn_signal_alpha_filter.update(255 * 0.2) + icon_alpha = 255 - icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255)) + self._texture = self._blind_spot_texture if self._type == 'blind_spot' else self._signal_texture if self._texture: pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2) @@ -54,10 +60,11 @@ class TurnSignalWidget(Widget): color = rl.Color(255, 255, 255, icon_alpha) rl.draw_texture(self._texture, pos_x, pos_y, color) - def activate(self): - if not self._active: + def activate(self, _type: str = 'signal'): + if not self._active or self._type != _type: self._turn_signal_timer = 0.0 self._active = True + self._type = _type def deactivate(self): self._active = False @@ -79,36 +86,66 @@ class TurnSignalController: if event_name == 'preLaneChangeLeft': self._last_icon_side = IconSide.left - self._left_signal.activate() + self._left_signal.activate('signal') self._right_signal.deactivate() elif event_name == 'preLaneChangeRight': self._last_icon_side = IconSide.right - self._right_signal.activate() + self._right_signal.activate('signal') self._left_signal.deactivate() elif event_name == 'laneChange': if self._last_icon_side == IconSide.left: - self._left_signal.activate() + self._left_signal.activate('signal') self._right_signal.deactivate() elif self._last_icon_side == IconSide.right: - self._right_signal.activate() + self._right_signal.activate('signal') + self._left_signal.deactivate() + + elif event_name == 'laneChangeBlocked': + CS = sm['carState'] + if CS.leftBlinker: + icon_side = IconSide.left + elif CS.rightBlinker: + icon_side = IconSide.right + else: + icon_side = self._last_icon_side + + if icon_side == IconSide.left: + self._left_signal.activate('blind_spot') + self._right_signal.deactivate() + elif icon_side == IconSide.right: + self._right_signal.activate('blind_spot') self._left_signal.deactivate() else: self._last_icon_side = None - self._left_signal.deactivate() - self._right_signal.deactivate() + CS = sm['carState'] + + if CS.leftBlindspot: + self._left_signal.activate('blind_spot') + elif CS.leftBlinker: + self._left_signal.activate('signal') + else: + self._left_signal.deactivate() + + if CS.rightBlindspot: + self._right_signal.activate('blind_spot') + elif CS.rightBlinker: + self._right_signal.activate('signal') + else: + self._right_signal.deactivate() def render(self): - if self._last_icon_side == IconSide.left: + if self._left_signal._active: self._left_signal.render(rl.Rectangle( self._config.left_x, self._config.left_y, self._config.size, self._config.size )) - elif self._last_icon_side == IconSide.right: + + if self._right_signal._active: self._right_signal.render(rl.Rectangle( self._config.right_x, self._config.right_y, From d7770ad55ca67fc15f766e75b66e7e3946d8595e Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 23 Jan 2026 23:36:47 -0700 Subject: [PATCH 091/144] [MICI] ui: display blindspot indicators when available (#1525) * always bsm * c4 bsm for c3x * position * sperate * sp dir * revert * decouple * final --------- Co-authored-by: Jason Wen --- .../ui/mici/onroad/augmented_road_view.py | 1 + selfdrive/ui/mici/onroad/hud_renderer.py | 4 +- .../ui/sunnypilot/mici/onroad/hud_renderer.py | 27 ++++++++++ .../onroad/blind_spot_indicators.py | 49 +++++++++++++++++++ 4 files changed, 80 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py create mode 100644 selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 0546920e53..316052fdc1 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -20,6 +20,7 @@ from openpilot.common.transformations.orientation import rot_from_euler from enum import IntEnum if gui_app.sunnypilot_ui(): + from openpilot.selfdrive.ui.sunnypilot.mici.onroad.hud_renderer import HudRendererSP as HudRenderer from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus OpState = log.SelfdriveState.OpenpilotState diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py index 7f489ccf98..44ce12437a 100644 --- a/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/selfdrive/ui/mici/onroad/hud_renderer.py @@ -183,11 +183,13 @@ class HudRenderer(Widget): def _draw_steering_wheel(self, rect: rl.Rectangle) -> None: wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel + bsm_detected = self._has_blind_spot_detected() if gui_app.sunnypilot_ui() else False + if self._show_wheel_critical: self._wheel_alpha_filter.update(255) self._wheel_y_filter.update(0) else: - if ui_state.status == UIStatus.DISENGAGED: + if ui_state.status == UIStatus.DISENGAGED or bsm_detected: self._wheel_alpha_filter.update(0) self._wheel_y_filter.update(wheel_txt.height / 2) else: diff --git a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py new file mode 100644 index 0000000000..de52bb4622 --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py @@ -0,0 +1,27 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.blind_spot_indicators import BlindSpotIndicators + + +class HudRendererSP(HudRenderer): + def __init__(self): + super().__init__() + self.blind_spot_indicators = BlindSpotIndicators() + + def _update_state(self) -> None: + super()._update_state() + self.blind_spot_indicators.update() + + def _render(self, rect: rl.Rectangle) -> None: + super()._render(rect) + self.blind_spot_indicators.render(rect) + + def _has_blind_spot_detected(self) -> bool: + return self.blind_spot_indicators.detected diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py new file mode 100644 index 0000000000..1087579fef --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py @@ -0,0 +1,49 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app +from openpilot.common.filter_simple import FirstOrderFilter + + +class BlindSpotIndicators: + def __init__(self): + self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128) + self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128) + + self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps) + self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps) + + def update(self) -> None: + sm = ui_state.sm + CS = sm['carState'] + + self._blind_spot_left_alpha_filter.update(1.0 if CS.leftBlindspot else 0.0) + self._blind_spot_right_alpha_filter.update(1.0 if CS.rightBlindspot else 0.0) + + @property + def detected(self) -> bool: + return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01 + + def render(self, rect: rl.Rectangle) -> None: + BLIND_SPOT_MARGIN_X = 20 # Distance from edge of screen + BLIND_SPOT_Y_OFFSET = 100 # Distance from top of screen + + if self._blind_spot_left_alpha_filter.x > 0.01: + pos_x = int(rect.x + BLIND_SPOT_MARGIN_X) + pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET) + alpha = int(255 * self._blind_spot_left_alpha_filter.x) + color = rl.Color(255, 255, 255, alpha) + rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color) + + if self._blind_spot_right_alpha_filter.x > 0.01: + pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width) + pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET) + alpha = int(255 * self._blind_spot_right_alpha_filter.x) + color = rl.Color(255, 255, 255, alpha) + rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color) From 5c01365125c1b1fff9239a8cde5f9482e3265022 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Sat, 24 Jan 2026 00:04:42 -0700 Subject: [PATCH 092/144] [TIZI/TICI] ui: Road Name (#1654) * road name * decouple * rename --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/onroad/hud_renderer.py | 4 ++ selfdrive/ui/sunnypilot/onroad/road_name.py | 56 +++++++++++++++++++ 2 files changed, 60 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/road_name.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 0155e38a6e..933b573bf1 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -9,6 +9,7 @@ import pyray as rl from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController @@ -17,17 +18,20 @@ class HudRendererSP(HudRenderer): def __init__(self): super().__init__() self.developer_ui = DeveloperUiRenderer() + self.road_name_renderer = RoadNameRenderer() self.rocket_fuel = RocketFuel() self.turn_signal_controller = TurnSignalController() def _update_state(self) -> None: super()._update_state() + self.road_name_renderer.update() self.turn_signal_controller.update() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) self.developer_ui.render(rect) + self.road_name_renderer.render(rect) self.turn_signal_controller.render() if ui_state.rocket_fuel: diff --git a/selfdrive/ui/sunnypilot/onroad/road_name.py b/selfdrive/ui/sunnypilot/onroad/road_name.py new file mode 100644 index 0000000000..652e620ad6 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/road_name.py @@ -0,0 +1,56 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.widgets import Widget + + +class RoadNameRenderer(Widget): + def __init__(self): + super().__init__() + self.road_name = "" + self.is_metric = False + self.font_demi = gui_app.font(FontWeight.SEMI_BOLD) + + def update(self): + sm = ui_state.sm + if sm.recv_frame["carState"] < ui_state.started_frame: + return + + self.is_metric = ui_state.is_metric + + if sm.updated["liveMapDataSP"]: + lmd = sm["liveMapDataSP"] + self.road_name = lmd.roadName + + def _render(self, rect: rl.Rectangle): + if not self.road_name: + return + + text = self.road_name + text_size = measure_text_cached(self.font_demi, text, 46) + + padding = 40 + rect_width = max(200, min(text_size.x + padding, rect.width - 40)) + + road_rect = rl.Rectangle(rect.x + rect.width / 2 - rect_width / 2, rect.y - 4, rect_width, 60) + + rl.draw_rectangle_rounded(road_rect, 0.2, 10, rl.Color(0, 0, 0, 120)) + + max_text_width = road_rect.width - 20 + if text_size.x > max_text_width: + while text_size.x > max_text_width and len(text) > 3: + text = text[:-1] + text_size = measure_text_cached(self.font_demi, text + "...", 46) + text = text + "..." + + sz = measure_text_cached(self.font_demi, text, 46) + origin = rl.Vector2(road_rect.x + road_rect.width / 2 - sz.x / 2, road_rect.y + road_rect.height / 2 - sz.y / 2) + rl.draw_text_ex(self.font_demi, text, origin, 46, 0, rl.Color(255, 255, 255, 200)) From fc4a0fb944de619e64e1ee9b312bdd6c03509a02 Mon Sep 17 00:00:00 2001 From: dzid26 Date: Sat, 24 Jan 2026 07:11:38 +0000 Subject: [PATCH 093/144] [TIZI/TICI] ui: Blue "Exit Always Offroad" button (#1655) Blue "Exit Always Offroad" button Co-authored-by: Jason Wen --- selfdrive/ui/sunnypilot/layouts/settings/device.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py index 448a4faab6..8f9d0ae22b 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/device.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py @@ -193,7 +193,7 @@ class DeviceLayoutSP(DeviceLayout): # Text & Color offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad") - offroad_mode_btn_style = ButtonStyle.NORMAL if always_offroad else ButtonStyle.DANGER + offroad_mode_btn_style = ButtonStyle.PRIMARY if always_offroad else ButtonStyle.DANGER self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text) self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style) From 7c90c0669a8257fb9e086d9ae392950cc511ce82 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 24 Jan 2026 10:51:41 -0800 Subject: [PATCH 094/144] script for CI results (#37024) --- scripts/ci_results.py | 209 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 209 insertions(+) create mode 100755 scripts/ci_results.py diff --git a/scripts/ci_results.py b/scripts/ci_results.py new file mode 100755 index 0000000000..c3d53f222a --- /dev/null +++ b/scripts/ci_results.py @@ -0,0 +1,209 @@ +#!/usr/bin/env python3 +"""Fetch CI results from GitHub Actions and Jenkins.""" + +import argparse +import json +import subprocess +import time +import urllib.error +import urllib.request +from datetime import datetime + +JENKINS_URL = "https://jenkins.comma.life" +DEFAULT_TIMEOUT = 1800 # 30 minutes +POLL_INTERVAL = 30 # seconds +LOG_TAIL_LINES = 10 # lines of log to include for failed jobs + + +def get_git_info(): + branch = subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"], text=True).strip() + commit = subprocess.check_output(["git", "rev-parse", "HEAD"], text=True).strip() + return branch, commit + + +def get_github_actions_status(commit_sha): + result = subprocess.run( + ["gh", "run", "list", "--commit", commit_sha, "--workflow", "tests.yaml", "--json", "databaseId,status,conclusion"], + capture_output=True, text=True, check=True + ) + runs = json.loads(result.stdout) + if not runs: + return None, None + + run_id = runs[0]["databaseId"] + result = subprocess.run( + ["gh", "run", "view", str(run_id), "--json", "jobs"], + capture_output=True, text=True, check=True + ) + data = json.loads(result.stdout) + jobs = {job["name"]: {"status": job["status"], "conclusion": job["conclusion"], + "duration": format_duration(job) if job["conclusion"] not in ("skipped", None) and job.get("startedAt") else "", + "id": job["databaseId"]} + for job in data.get("jobs", [])} + return jobs, run_id + + +def get_github_job_log(run_id, job_id): + result = subprocess.run( + ["gh", "run", "view", str(run_id), "--job", str(job_id), "--log-failed"], + capture_output=True, text=True + ) + lines = result.stdout.strip().split('\n') + return '\n'.join(lines[-LOG_TAIL_LINES:]) if len(lines) > LOG_TAIL_LINES else result.stdout.strip() + + +def format_duration(job): + start = datetime.fromisoformat(job["startedAt"].replace("Z", "+00:00")) + end = datetime.fromisoformat(job["completedAt"].replace("Z", "+00:00")) + secs = int((end - start).total_seconds()) + return f"{secs // 60}m {secs % 60}s" + + +def get_jenkins_status(branch, commit_sha): + base_url = f"{JENKINS_URL}/job/openpilot/job/{branch}" + try: + # Get list of recent builds + with urllib.request.urlopen(f"{base_url}/api/json?tree=builds[number,url]", timeout=10) as resp: + builds = json.loads(resp.read().decode()).get("builds", []) + + # Find build matching commit + for build in builds[:20]: # check last 20 builds + with urllib.request.urlopen(f"{build['url']}api/json", timeout=10) as resp: + data = json.loads(resp.read().decode()) + for action in data.get("actions", []): + if action.get("_class") == "hudson.plugins.git.util.BuildData": + build_sha = action.get("lastBuiltRevision", {}).get("SHA1", "") + if build_sha.startswith(commit_sha) or commit_sha.startswith(build_sha): + # Get stages info + stages = [] + try: + with urllib.request.urlopen(f"{build['url']}wfapi/describe", timeout=10) as resp2: + wf_data = json.loads(resp2.read().decode()) + stages = [{"name": s["name"], "status": s["status"]} for s in wf_data.get("stages", [])] + except urllib.error.HTTPError: + pass + return { + "number": data["number"], + "in_progress": data.get("inProgress", False), + "result": data.get("result"), + "url": data.get("url", ""), + "stages": stages, + } + return None # no build found for this commit + except urllib.error.HTTPError: + return None # branch doesn't exist on Jenkins + + +def get_jenkins_log(build_url): + url = f"{build_url}consoleText" + with urllib.request.urlopen(url, timeout=30) as resp: + text = resp.read().decode(errors='replace') + lines = text.strip().split('\n') + return '\n'.join(lines[-LOG_TAIL_LINES:]) if len(lines) > LOG_TAIL_LINES else text.strip() + + +def is_complete(gh_status, jenkins_status): + gh_done = gh_status is None or all(j["status"] == "completed" for j in gh_status.values()) + jenkins_done = jenkins_status is None or not jenkins_status.get("in_progress", True) + return gh_done and jenkins_done + + +def status_icon(status, conclusion=None): + if status == "completed": + return ":white_check_mark:" if conclusion == "success" else ":x:" + return ":hourglass:" if status == "in_progress" else ":grey_question:" + + +def format_markdown(gh_status, gh_run_id, jenkins_status, commit_sha, branch): + lines = ["# CI Results", "", + f"**Branch**: {branch}", + f"**Commit**: {commit_sha[:7]}", + f"**Generated**: {datetime.now().strftime('%Y-%m-%d %H:%M:%S')}", ""] + + lines.extend(["## GitHub Actions", "", "| Job | Status | Duration |", "|-----|--------|----------|"]) + failed_gh_jobs = [] + if gh_status: + for job_name, job in gh_status.items(): + icon = status_icon(job["status"], job.get("conclusion")) + conclusion = job.get("conclusion") or job["status"] + lines.append(f"| {job_name} | {icon} {conclusion} | {job.get('duration', '')} |") + if job.get("conclusion") == "failure": + failed_gh_jobs.append((job_name, job.get("id"))) + else: + lines.append("| - | No workflow runs found | |") + + lines.extend(["", "## Jenkins", "", "| Stage | Status |", "|-------|--------|"]) + failed_jenkins_stages = [] + if jenkins_status: + stages = jenkins_status.get("stages", []) + if stages: + for stage in stages: + icon = ":white_check_mark:" if stage["status"] == "SUCCESS" else ( + ":x:" if stage["status"] == "FAILED" else ":hourglass:") + lines.append(f"| {stage['name']} | {icon} {stage['status'].lower()} |") + if stage["status"] == "FAILED": + failed_jenkins_stages.append(stage["name"]) + else: + icon = ":hourglass:" if jenkins_status["in_progress"] else ( + ":white_check_mark:" if jenkins_status["result"] == "SUCCESS" else ":x:") + status = "in progress" if jenkins_status["in_progress"] else (jenkins_status["result"] or "unknown") + lines.append(f"| #{jenkins_status['number']} | {icon} {status.lower()} |") + if jenkins_status.get("url"): + lines.append(f"\n[View build]({jenkins_status['url']})") + else: + lines.append("| - | No builds found for branch |") + + if failed_gh_jobs or failed_jenkins_stages: + lines.extend(["", "## Failure Logs", ""]) + + for job_name, job_id in failed_gh_jobs: + lines.append(f"### GitHub Actions: {job_name}") + log = get_github_job_log(gh_run_id, job_id) + lines.extend(["", "```", log, "```", ""]) + + for stage_name in failed_jenkins_stages: + lines.append(f"### Jenkins: {stage_name}") + log = get_jenkins_log(jenkins_status["url"]) + lines.extend(["", "```", log, "```", ""]) + + return "\n".join(lines) + "\n" + + +def main(): + parser = argparse.ArgumentParser(description="Fetch CI results from GitHub Actions and Jenkins") + parser.add_argument("--wait", action="store_true", help="Wait for CI to complete") + parser.add_argument("--timeout", type=int, default=DEFAULT_TIMEOUT, help="Timeout in seconds (default: 1800)") + parser.add_argument("-o", "--output", default="ci_results.md", help="Output file (default: ci_results.md)") + parser.add_argument("--branch", help="Branch to check (default: current branch)") + parser.add_argument("--commit", help="Commit SHA to check (default: HEAD)") + args = parser.parse_args() + + branch, commit = get_git_info() + branch = args.branch or branch + commit = args.commit or commit + print(f"Fetching CI results for {branch} @ {commit[:7]}") + + start_time = time.monotonic() + while True: + gh_status, gh_run_id = get_github_actions_status(commit) + jenkins_status = get_jenkins_status(branch, commit) if branch != "HEAD" else None + + if not args.wait or is_complete(gh_status, jenkins_status): + break + + elapsed = time.monotonic() - start_time + if elapsed >= args.timeout: + print(f"Timeout after {int(elapsed)}s") + break + + print(f"CI still running, waiting {POLL_INTERVAL}s... ({int(elapsed)}s elapsed)") + time.sleep(POLL_INTERVAL) + + content = format_markdown(gh_status, gh_run_id, jenkins_status, commit, branch) + with open(args.output, "w") as f: + f.write(content) + print(f"Results written to {args.output}") + + +if __name__ == "__main__": + main() From de024fd4a7f7d92a825dbbf614078d123c2fc25c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 24 Jan 2026 12:02:33 -0800 Subject: [PATCH 095/144] pandad: pure Python capnp helpers (#37025) * pandad: pure Python capnp helpers * cleanup --- .../lib/longitudinal_mpc_lib/SConscript | 4 +- selfdrive/pandad/SConscript | 6 +- selfdrive/pandad/__init__.py | 1 - selfdrive/pandad/can_list_to_can_capnp.cc | 50 ----------- selfdrive/pandad/can_types.h | 15 ---- selfdrive/pandad/pandad_api_impl.py | 88 +++++++++++++++++++ selfdrive/pandad/pandad_api_impl.pyx | 56 ------------ 7 files changed, 91 insertions(+), 129 deletions(-) delete mode 100644 selfdrive/pandad/can_list_to_can_capnp.cc delete mode 100644 selfdrive/pandad/can_types.h create mode 100644 selfdrive/pandad/pandad_api_impl.py delete mode 100644 selfdrive/pandad/pandad_api_impl.pyx diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 164b965142..7a6c02a538 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'pandad_python', 'np_version') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version') gen = "c_generated_code" @@ -67,7 +67,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, [msgq_python, common_python, pandad_python]) +lenv.Depends(generated_long, [msgq_python, common_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript index 58777cafe9..5e0b782c1e 100644 --- a/selfdrive/pandad/SConscript +++ b/selfdrive/pandad/SConscript @@ -1,13 +1,9 @@ -Import('env', 'envCython', 'common', 'messaging') +Import('env', 'common', 'messaging') libs = ['usb-1.0', common, messaging, 'pthread'] panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs) -env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) - -pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) -Export('pandad_python') if GetOption('extras'): env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py index cc680e1676..0c17e886a2 100644 --- a/selfdrive/pandad/__init__.py +++ b/selfdrive/pandad/__init__.py @@ -1,4 +1,3 @@ -# Cython, now uses scons to build from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list assert can_list_to_can_capnp assert can_capnp_to_list diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc deleted file mode 100644 index f2cf153453..0000000000 --- a/selfdrive/pandad/can_list_to_can_capnp.cc +++ /dev/null @@ -1,50 +0,0 @@ -#include "cereal/messaging/messaging.h" -#include "selfdrive/pandad/can_types.h" - -void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) { - MessageBuilder msg; - auto event = msg.initEvent(valid); - - auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); - int j = 0; - for (auto it = can_list.begin(); it != can_list.end(); it++, j++) { - auto c = canData[j]; - c.setAddress(it->address); - c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size())); - c.setSrc(it->src); - } - const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word); - out.resize(msg_size); - kj::ArrayOutputStream output_stream(kj::ArrayPtr((unsigned char *)out.data(), msg_size)); - capnp::writeMessage(output_stream, msg); -} - -// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures. -void can_capnp_to_can_list_cpp(const std::vector &strings, std::vector &can_list, bool sendcan) { - AlignedBuffer aligned_buf; - can_list.reserve(strings.size()); - - for (const auto &str : strings) { - // extract the messages - capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size())); - cereal::Event::Reader event = reader.getRoot(); - - auto frames = sendcan ? event.getSendcan() : event.getCan(); - - // Add new CanData entry - CanData &can_data = can_list.emplace_back(); - can_data.nanos = event.getLogMonoTime(); - can_data.frames.reserve(frames.size()); - - // Populate CAN frames - for (const auto &frame : frames) { - CanFrame &can_frame = can_data.frames.emplace_back(); - can_frame.src = frame.getSrc(); - can_frame.address = frame.getAddress(); - - // Copy CAN data - auto dat = frame.getDat(); - can_frame.dat.assign(dat.begin(), dat.end()); - } - } -} diff --git a/selfdrive/pandad/can_types.h b/selfdrive/pandad/can_types.h deleted file mode 100644 index 5fae581cfa..0000000000 --- a/selfdrive/pandad/can_types.h +++ /dev/null @@ -1,15 +0,0 @@ -#pragma once - -#include -#include - -struct CanFrame { - long src; - uint32_t address; - std::vector dat; -}; - -struct CanData { - uint64_t nanos; - std::vector frames; -}; \ No newline at end of file diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py new file mode 100644 index 0000000000..75a7ba484e --- /dev/null +++ b/selfdrive/pandad/pandad_api_impl.py @@ -0,0 +1,88 @@ +import time +from cereal import log + +NO_TRAVERSAL_LIMIT = 2**64 - 1 + +# Cache schema fields for faster access (avoids string lookup on each field access) +_cached_reader_fields = None # (address_field, dat_field, src_field) for reading +_cached_writer_fields = None # (address_field, dat_field, src_field) for writing + + +def _get_reader_fields(schema): + """Get cached schema field objects for reading.""" + global _cached_reader_fields + if _cached_reader_fields is None: + fields = schema.fields + _cached_reader_fields = (fields['address'], fields['dat'], fields['src']) + return _cached_reader_fields + + +def _get_writer_fields(schema): + """Get cached schema field objects for writing.""" + global _cached_writer_fields + if _cached_writer_fields is None: + fields = schema.fields + _cached_writer_fields = (fields['address'], fields['dat'], fields['src']) + return _cached_writer_fields + + +def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): + """Convert list of CAN messages to Cap'n Proto serialized bytes. + + Args: + can_msgs: List of tuples [(address, data_bytes, src), ...] + msgtype: 'can' or 'sendcan' + valid: Whether the event is valid + + Returns: + Cap'n Proto serialized bytes + """ + global _cached_writer_fields + + dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9)) + can_data = dat.init(msgtype, len(can_msgs)) + + # Cache schema fields on first call + if _cached_writer_fields is None and len(can_msgs) > 0: + _cached_writer_fields = _get_writer_fields(can_data[0].schema) + + if _cached_writer_fields is not None: + addr_f, dat_f, src_f = _cached_writer_fields + for i, msg in enumerate(can_msgs): + f = can_data[i] + f._set_by_field(addr_f, msg[0]) + f._set_by_field(dat_f, msg[1]) + f._set_by_field(src_f, msg[2]) + + return dat.to_bytes() + + +def can_capnp_to_list(strings, msgtype='can'): + """Convert Cap'n Proto serialized bytes to list of CAN messages. + + Args: + strings: Tuple/list of serialized Cap'n Proto bytes + msgtype: 'can' or 'sendcan' + + Returns: + List of tuples [(nanos, [(address, data, src), ...]), ...] + """ + global _cached_reader_fields + result = [] + + for s in strings: + with log.Event.from_bytes(s, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as event: + frames = getattr(event, msgtype) + + # Cache schema fields on first frame for faster access + if _cached_reader_fields is None and len(frames) > 0: + _cached_reader_fields = _get_reader_fields(frames[0].schema) + + if _cached_reader_fields is not None: + addr_f, dat_f, src_f = _cached_reader_fields + frame_list = [(f._get_by_field(addr_f), f._get_by_field(dat_f), f._get_by_field(src_f)) for f in frames] + else: + frame_list = [] + + result.append((event.logMonoTime, frame_list)) + return result diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx deleted file mode 100644 index aaecb8a594..0000000000 --- a/selfdrive/pandad/pandad_api_impl.pyx +++ /dev/null @@ -1,56 +0,0 @@ -# distutils: language = c++ -# cython: language_level=3 -from cython.operator cimport dereference as deref, preincrement as preinc -from libcpp.vector cimport vector -from libcpp.string cimport string -from libcpp cimport bool -from libc.stdint cimport uint8_t, uint32_t, uint64_t - -cdef extern from "selfdrive/pandad/can_types.h": - cdef struct CanFrame: - long src - uint32_t address - vector[uint8_t] dat - - cdef struct CanData: - uint64_t nanos - vector[CanFrame] frames - -cdef extern from "can_list_to_can_capnp.cc": - void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) nogil - void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan) - -def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): - cdef CanFrame *f - cdef vector[CanFrame] can_list - cdef uint32_t cpp_can_msgs_len = len(can_msgs) - - with nogil: - can_list.reserve(cpp_can_msgs_len) - - for can_msg in can_msgs: - f = &(can_list.emplace_back()) - f.address = can_msg[0] - f.dat = can_msg[1] - f.src = can_msg[2] - - cdef string out - cdef bool is_sendcan = (msgtype == 'sendcan') - cdef bool is_valid = valid - with nogil: - can_list_to_can_capnp_cpp(can_list, out, is_sendcan, is_valid) - return out - -def can_capnp_to_list(strings, msgtype='can'): - cdef vector[CanData] data - can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan') - - result = [] - cdef CanData *d - cdef vector[CanData].iterator it = data.begin() - while it != data.end(): - d = &deref(it) - frames = [(f.address, (&f.dat[0])[:f.dat.size()], f.src) for f in d.frames] - result.append((d.nanos, frames)) - preinc(it) - return result From 5dea009113b5946e8f13aa62471f461930c13d50 Mon Sep 17 00:00:00 2001 From: Candy0707 <93701039+Candy0707@users.noreply.github.com> Date: Sun, 25 Jan 2026 11:50:39 +0800 Subject: [PATCH 096/144] [TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar (#1659) * Fix Bug Turn and blind * use separate y coord for left and right signals --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/onroad/hud_renderer.py | 2 +- selfdrive/ui/sunnypilot/onroad/turn_signal.py | 32 +++++++++---------- 2 files changed, 16 insertions(+), 18 deletions(-) diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 933b573bf1..0ea008f4e6 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -32,7 +32,7 @@ class HudRendererSP(HudRenderer): self.developer_ui.render(rect) self.road_name_renderer.render(rect) - self.turn_signal_controller.render() + self.turn_signal_controller.render(rect) if ui_state.rocket_fuel: self.rocket_fuel.render(rect, ui_state.sm) diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py index 4e5f1183d8..3a66ffeb03 100644 --- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -17,10 +17,10 @@ from openpilot.common.filter_simple import FirstOrderFilter @dataclass(frozen=True) class TurnSignalConfig: - left_x: int = 870 - left_y: int = 220 - right_x: int = 1140 - right_y: int = 220 + left_x: int = 80 + left_y: int = 190 + right_x: int = 80 + right_y: int = 190 size: int = 150 @@ -136,22 +136,20 @@ class TurnSignalController: else: self._right_signal.deactivate() - def render(self): + def render(self, rect: rl.Rectangle): + x = rect.x + rect.width / 2 + + left_x = x - self._config.left_x - self._config.size + left_y = rect.y + self._config.left_y + + right_x = x + self._config.right_x + right_y = rect.y + self._config.right_y + if self._left_signal._active: - self._left_signal.render(rl.Rectangle( - self._config.left_x, - self._config.left_y, - self._config.size, - self._config.size - )) + self._left_signal.render(rl.Rectangle(left_x, left_y, self._config.size, self._config.size)) if self._right_signal._active: - self._right_signal.render(rl.Rectangle( - self._config.right_x, - self._config.right_y, - self._config.size, - self._config.size - )) + self._right_signal.render(rl.Rectangle(right_x, right_y, self._config.size, self._config.size)) @property def config(self) -> TurnSignalConfig: From fb58e8f1f7470d4699359988939a4a84a23a9673 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Sun, 25 Jan 2026 23:54:42 -0700 Subject: [PATCH 097/144] [TIZI/TICI] ui: Speed Limit (#1653) * sla ui remove dub debug ahead postition maybe posttion think * sunny will be mad Reapply "test" This reverts commit 7a35fd3053425b06c1e4cebf68b6c9676eb6e279. Revert "test" This reverts commit 1a79155d3cfc8e6e09a6fc38d13747883745ef6a. test * road name * Revert "road name" This reverts commit 02e69b008603c357f14b4793e8fc893e00b3d3a0. * decouple * dial it in * match cur * no magic numbers * cleanup * more cleanup * match * always draw ahead * Revert "always draw ahead" This reverts commit f695e000789aab316af8234d8ea3e282e0b72ec3. * new * type * Revert "type" This reverts commit 2dafa024076ff0b9e027c88e5fd532f8bc4ec0c7. * default --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/onroad/hud_renderer.py | 5 +- selfdrive/ui/sunnypilot/onroad/speed_limit.py | 281 ++++++++++++++++++ selfdrive/ui/sunnypilot/ui_state.py | 1 + 3 files changed, 286 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/sunnypilot/onroad/speed_limit.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 0ea008f4e6..8ca7269802 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -11,6 +11,7 @@ from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel +from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController @@ -20,18 +21,20 @@ class HudRendererSP(HudRenderer): self.developer_ui = DeveloperUiRenderer() self.road_name_renderer = RoadNameRenderer() self.rocket_fuel = RocketFuel() + self.speed_limit_renderer = SpeedLimitRenderer() self.turn_signal_controller = TurnSignalController() def _update_state(self) -> None: super()._update_state() self.road_name_renderer.update() + self.speed_limit_renderer.update() self.turn_signal_controller.update() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) self.developer_ui.render(rect) - self.road_name_renderer.render(rect) + self.speed_limit_renderer.render(rect) self.turn_signal_controller.render(rect) if ui_state.rocket_fuel: diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py new file mode 100644 index 0000000000..a0b5ea3935 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py @@ -0,0 +1,281 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from dataclasses import dataclass +import math +import pyray as rl + +from cereal import custom +from openpilot.common.constants import CV +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.widgets import Widget + +METER_TO_FOOT = 3.28084 +METER_TO_MILE = 0.000621371 +AHEAD_THRESHOLD = 5 + +AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState +SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source + + +@dataclass(frozen=True) +class Colors: + WHITE = rl.WHITE + BLACK = rl.BLACK + RED = rl.RED + GREY = rl.Color(145, 155, 149, 255) + DARK_GREY = rl.Color(77, 77, 77, 255) + SUB_BG = rl.Color(0, 0, 0, 180) + MUTCD_LINES = rl.Color(255, 255, 255, 100) + + +class SpeedLimitRenderer(Widget): + def __init__(self): + super().__init__() + + self.speed_limit = 0.0 + self.speed_limit_last = 0.0 + self.speed_limit_offset = 0.0 + self.speed_limit_valid = False + self.speed_limit_last_valid = False + self.speed_limit_final_last = 0.0 + self.speed_limit_source = SpeedLimitSource.none + self.speed_limit_assist_state = AssistState.disabled + + self.speed_limit_ahead = 0.0 + self.speed_limit_ahead_dist = 0.0 + self.speed_limit_ahead_dist_prev = 0.0 + self.speed_limit_ahead_valid = False + self.speed_limit_ahead_frame = 0 + + self.assist_frame = 0 + self.speed = 0.0 + self.set_speed = 0.0 + + self.font_bold = gui_app.font(FontWeight.BOLD) + self.font_demi = gui_app.font(FontWeight.SEMI_BOLD) + self.font_norm = gui_app.font(FontWeight.NORMAL) + self._sign_alpha_filter = FirstOrderFilter(1.0, 0.5, 1 / gui_app.target_fps) + + arrow_size = 90 + self._arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size) + self._arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size) + + @property + def speed_conv(self): + return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH + + def update(self): + sm = ui_state.sm + if sm.recv_frame["carState"] < ui_state.started_frame: + return + + if sm.updated["longitudinalPlanSP"]: + lp_sp = sm["longitudinalPlanSP"] + resolver = lp_sp.speedLimit.resolver + assist = lp_sp.speedLimit.assist + + self.speed_limit = resolver.speedLimit * self.speed_conv + self.speed_limit_last = resolver.speedLimitLast * self.speed_conv + self.speed_limit_offset = resolver.speedLimitOffset * self.speed_conv + self.speed_limit_valid = resolver.speedLimitValid + self.speed_limit_last_valid = resolver.speedLimitLastValid + self.speed_limit_final_last = resolver.speedLimitFinalLast * self.speed_conv + self.speed_limit_source = resolver.source + self.speed_limit_assist_state = assist.state + + if sm.updated["liveMapDataSP"]: + lmd = sm["liveMapDataSP"] + self.speed_limit_ahead_valid = lmd.speedLimitAheadValid + self.speed_limit_ahead = lmd.speedLimitAhead * self.speed_conv + self.speed_limit_ahead_dist = lmd.speedLimitAheadDistance + + if self.speed_limit_ahead_dist < self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame < AHEAD_THRESHOLD: + self.speed_limit_ahead_frame += 1 + elif self.speed_limit_ahead_dist > self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame > 0: + self.speed_limit_ahead_frame -= 1 + + self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist + + cs = sm["carState"] + self.set_speed = cs.cruiseState.speed * self.speed_conv + v_ego = cs.vEgoCluster if cs.vEgoCluster != 0.0 else cs.vEgo + self.speed = max(0.0, v_ego * self.speed_conv) + + @staticmethod + def _draw_text_centered(font, text, size, pos_center, color): + sz = measure_text_cached(font, text, size) + rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color) + + def _render(self, rect: rl.Rectangle): + width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial + x = rect.x + 60 + width + 30 - 6 + y = rect.y + 45 - 6 + + sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2) + + if self.speed_limit_assist_state == AssistState.preActive: + self.assist_frame += 1 + pulse_value = 0.65 + 0.35 * math.sin(self.assist_frame * math.pi / gui_app.target_fps) + alpha = self._sign_alpha_filter.update(pulse_value) + else: + self.assist_frame = 0 + alpha = self._sign_alpha_filter.update(1.0) + + if ui_state.speed_limit_mode != SpeedLimitMode.off: + self._draw_sign_main(sign_rect, alpha) + if self.speed_limit_assist_state == AssistState.preActive: + self._draw_pre_active_arrow(sign_rect) + else: + self._draw_ahead_info(sign_rect) + + def _draw_sign_main(self, rect, alpha=1.0): + speed_limit_warning_enabled = ui_state.speed_limit_mode >= SpeedLimitMode.warning + has_limit = self.speed_limit_valid or self.speed_limit_last_valid + is_overspeed = has_limit and round(self.speed_limit_final_last) < round(self.speed) + + limit_str = str(round(self.speed_limit_last)) if has_limit else "---" + sub_text = "" + if self.speed_limit_offset != 0: + sign = "" if self.speed_limit_offset > 0 else "-" + sub_text = f"{sign}{round(abs(self.speed_limit_offset))}" + + txt_color = Colors.BLACK + if speed_limit_warning_enabled and is_overspeed: + txt_color = Colors.RED + elif not self.speed_limit_valid: + txt_color = Colors.GREY + + if ui_state.is_metric: + self._render_vienna(rect, limit_str, sub_text, txt_color, has_limit, alpha) + else: + self._render_mutcd(rect, limit_str, sub_text, txt_color, has_limit, alpha) + + def _draw_pre_active_arrow(self, sign_rect): + set_speed_rounded = round(self.set_speed) + limit_rounded = round(self.speed_limit_final_last) + + bounce_frequency = 2.0 * math.pi / (gui_app.target_fps * 2.5) + bounce_offset = int(20 * math.sin(self.assist_frame * bounce_frequency)) + + sign_margin = 12 + arrow_spacing = int(sign_margin * 1.4) + arrow_x = sign_rect.x + sign_rect.width + arrow_spacing + + if set_speed_rounded < limit_rounded: + arrow_y = sign_rect.y + (sign_rect.height - self._arrow_up.height) / 2 + bounce_offset + rl.draw_texture(self._arrow_up, int(arrow_x), int(arrow_y), rl.WHITE) + elif set_speed_rounded > limit_rounded: + arrow_y = sign_rect.y + (sign_rect.height - self._arrow_down.height) / 2 - bounce_offset + rl.draw_texture(self._arrow_down, int(arrow_x), int(arrow_y), rl.WHITE) + + def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0): + center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2) + radius = (rect.width + 18) / 2 + + white = rl.Color(255, 255, 255, int(255 * alpha)) + red = rl.Color(255, 0, 0, int(255 * alpha)) + + if hasattr(color, 'r'): + text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha)) + else: + text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha)) + + black = rl.Color(0, 0, 0, int(255 * alpha)) + dark_grey = rl.Color(77, 77, 77, int(255 * alpha)) + + rl.draw_circle_v(center, radius, white) + rl.draw_ring(center, radius * 0.80, radius, 0, 360, 36, red) + + f_size = 70 if len(val) >= 3 else 85 + self._draw_text_centered(self.font_bold, val, f_size, center, text_color) + + if sub and has_limit: + s_radius = radius * 0.4 + s_center = rl.Vector2(rect.x + rect.width - s_radius / 2, rect.y + s_radius / 2) + + rl.draw_circle_v(s_center, s_radius, black) + rl.draw_ring(s_center, s_radius - 3, s_radius, 0, 360, 36, dark_grey) + + f_scale = 0.5 if len(sub) < 3 else 0.45 + self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * f_scale), s_center, white) + + def _render_mutcd(self, rect, val, sub, color, has_limit, alpha=1.0): + white = rl.Color(255, 255, 255, int(255 * alpha)) + black = rl.Color(0, 0, 0, int(255 * alpha)) + dark_grey = rl.Color(77, 77, 77, int(255 * alpha)) + + if hasattr(color, 'r'): + text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha)) + else: + text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha)) + + rl.draw_rectangle_rounded(rect, 0.35, 10, white) + inner = rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20) + rl.draw_rectangle_rounded_lines_ex(inner, 0.35, 10, 4, black) + + self._draw_text_centered(self.font_demi, "SPEED", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 40), black) + self._draw_text_centered(self.font_demi, "LIMIT", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 80), black) + self._draw_text_centered(self.font_bold, val, 90, rl.Vector2(rect.x + rect.width / 2, rect.y + 150), text_color) + + if sub and has_limit: + box_sz = rect.width * 0.3 + overlap = box_sz * 0.2 + s_rect = rl.Rectangle(rect.x + rect.width - box_sz / 1.5 + overlap, rect.y - box_sz / 1.25 + overlap, box_sz, box_sz) + + rl.draw_rectangle_rounded(s_rect, 0.35, 10, black) + rl.draw_rectangle_rounded_lines_ex(s_rect, 0.35, 10, 6, dark_grey) + + f_scale = 0.6 if len(sub) < 3 else 0.475 + self._draw_text_centered(self.font_bold, sub, int(box_sz * f_scale), rl.Vector2(s_rect.x + box_sz / 2, s_rect.y + box_sz / 2), white) + + def _draw_ahead_info(self, sign_rect): + source_is_map = self.speed_limit_source == SpeedLimitSource.map + valid = self.speed_limit_ahead_valid and self.speed_limit_ahead > 0 and self.speed_limit_ahead != self.speed_limit + + if not (valid and source_is_map): + return + + rect = rl.Rectangle(sign_rect.x + (sign_rect.width - 170) / 2, sign_rect.y + sign_rect.height + 10, 170, 160) + rl.draw_rectangle_rounded(rect, 0.35, 10, Colors.SUB_BG) + rl.draw_rectangle_rounded_lines_ex(rect, 0.35, 10, 3, Colors.MUTCD_LINES) + + mid_x = rect.x + rect.width / 2 + self._draw_text_centered(self.font_demi, "AHEAD", 40, rl.Vector2(mid_x, rect.y + 28), Colors.GREY) + self._draw_text_centered(self.font_bold, str(round(self.speed_limit_ahead)), 70, rl.Vector2(mid_x, rect.y + 82), Colors.WHITE) + self._draw_text_centered(self.font_norm, self._format_dist(self.speed_limit_ahead_dist), 36, rl.Vector2(mid_x, rect.y + 134), Colors.GREY) + + @staticmethod + def _format_dist(d): + # metric + if ui_state.is_metric: + if d < 50: + return tr("Near") + + if d >= 1000: + return f"{d / 1000:.1f} km" + + d_rounded = round(d, -1) if d < 200 else round(d, -2) + return f"{int(d_rounded)} m" + + # imperial + d_ft = d * METER_TO_FOOT + if d_ft < 100: + return tr("Near") + + if d_ft >= 900: + return f"{d * METER_TO_MILE:.1f} mi" + + if d_ft < 500: + return f"{int(round(d_ft / 50) * 50)} ft" + + return f"{int(round(d_ft / 100) * 100)} ft" diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 9ef4e1d7c8..f38280d498 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -127,6 +127,7 @@ class UIStateSP: self.chevron_metrics = self.params.get("ChevronInfo") self.active_bundle = self.params.get("ModelManager_ActiveBundle") self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) + self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True) # Onroad Screen Brightness self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True))) From 71a418d166d00d86226c02453a70c57776f46009 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 26 Jan 2026 09:14:57 -0800 Subject: [PATCH 098/144] [bot] Update Python packages (#37028) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 3 +- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 262 +++++++++++++++++++++++++------------------------- 5 files changed, 136 insertions(+), 135 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 08c06b2303..b349679395 100644 --- a/docs/CARS.md +++ b/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. -# 326 Supported Cars +# 327 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -14,6 +14,7 @@ A supported vehicle is one that just works when you install a comma device. All |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Acura|TLX 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 1908668b05..d424d1f247 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 1908668b05691564ea5fc80bc11b784a9dee0714 +Subproject commit d424d1f247384b68923b8093875e1a370ef8221d diff --git a/panda b/panda index 3dd38b76b4..81615ad9d5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3dd38b76b48903efb4705f55752e9719ba2f5564 +Subproject commit 81615ad9d53aef5583e064f340e9cdeb23d4119c diff --git a/tinygrad_repo b/tinygrad_repo index 7cb7abeeb0..774a454bb5 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 7cb7abeeb02c681a463f252179354db4bb5e3809 +Subproject commit 774a454bb5e6d0fe3756a8add9302c0a3d592bd9 diff --git a/uv.lock b/uv.lock index 674b18b7ea..b221995b85 100644 --- a/uv.lock +++ b/uv.lock @@ -378,37 +378,37 @@ wheels = [ [[package]] name = "coverage" -version = "7.13.1" +version = "7.13.2" source = { registry = "https://pypi.org/simple" } -sdist = { url = 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<76905857+felsager@users.noreply.github.com> Date: Mon, 26 Jan 2026 15:02:57 -0800 Subject: [PATCH 099/144] long_mpc: simplify longitudinal planner by removing "modes" (#37014) --- .../lib/longitudinal_mpc_lib/long_mpc.py | 125 +++++------------- .../controls/lib/longitudinal_planner.py | 32 ++--- .../controls/tests/test_following_distance.py | 7 +- 3 files changed, 47 insertions(+), 117 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 3f9d8245bd..9408132c5b 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -35,7 +35,7 @@ X_EGO_OBSTACLE_COST = 3. X_EGO_COST = 0. V_EGO_COST = 0. A_EGO_COST = 0. -J_EGO_COST = 5.0 +J_EGO_COST = 5. A_CHANGE_COST = 200. DANGER_ZONE_COST = 100. CRASH_DISTANCE = .25 @@ -43,7 +43,6 @@ LEAD_DANGER_FACTOR = 0.75 LIMIT_COST = 1e6 ACADOS_SOLVER_TYPE = 'SQP_RTI' - # Fewer timestamps don't hurt performance and lead to # much better convergence of the MPC with low iterations N = 12 @@ -57,6 +56,7 @@ COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 CRUISE_MIN_ACCEL = -1.2 CRUISE_MAX_ACCEL = 1.6 +MIN_X_LEAD_FACTOR = 0.5 def get_jerk_factor(personality=log.LongitudinalPersonality.standard): if personality==log.LongitudinalPersonality.relaxed: @@ -85,20 +85,12 @@ def get_stopped_equivalence_factor(v_lead): def get_safe_obstacle_distance(v_ego, t_follow): return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE -def desired_follow_distance(v_ego, v_lead, t_follow=None): - if t_follow is None: - t_follow = get_T_FOLLOW() - return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead) - - def gen_long_model(): model = AcadosModel() model.name = MODEL_NAME - # set up states & controls - x_ego = SX.sym('x_ego') - v_ego = SX.sym('v_ego') - a_ego = SX.sym('a_ego') + # states + x_ego, v_ego, a_ego = SX.sym('x_ego'), SX.sym('v_ego'), SX.sym('a_ego') model.x = vertcat(x_ego, v_ego, a_ego) # controls @@ -126,7 +118,6 @@ def gen_long_model(): model.f_expl_expr = f_expl return model - def gen_long_ocp(): ocp = AcadosOcp() ocp.model = gen_long_model() @@ -222,30 +213,31 @@ def gen_long_ocp(): class LongitudinalMpc: - def __init__(self, mode='acc', dt=DT_MDL): - self.mode = mode + def __init__(self, dt=DT_MDL): self.dt = dt self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() self.source = SOURCES[2] def reset(self): - # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.solver.reset() - # self.solver.options_set('print_level', 2) + + self.x_sol = np.zeros((N+1, X_DIM)) + self.u_sol = np.zeros((N, 1)) self.v_solution = np.zeros(N+1) self.a_solution = np.zeros(N+1) - self.prev_a = np.array(self.a_solution) self.j_solution = np.zeros(N) + self.prev_a = np.array(self.a_solution) self.yref = np.zeros((N+1, COST_DIM)) + for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) - self.x_sol = np.zeros((N+1, X_DIM)) - self.u_sol = np.zeros((N,1)) + self.params = np.zeros((N+1, PARAM_DIM)) for i in range(N+1): self.solver.set(i, 'x', np.zeros(X_DIM)) + self.last_cloudlog_t = 0 self.status = False self.crash_cnt = 0.0 @@ -276,16 +268,9 @@ class LongitudinalMpc: def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard): jerk_factor = get_jerk_factor(personality) - if self.mode == 'acc': - a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 - cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST] - constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] - elif self.mode == 'blended': - a_change_cost = 40.0 if prev_accel_constraint else 0 - cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0] - constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] - else: - raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') + a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 + cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] self.set_cost_weights(cost_weights, constraint_cost_weights) def set_cur_state(self, v, a): @@ -320,14 +305,14 @@ class LongitudinalMpc: # MPC will not converge if immediate crash is expected # Clip lead distance to what is still possible to brake for - min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2) + min_x_lead = MIN_X_LEAD_FACTOR * (v_ego + v_lead) * (v_ego - v_lead) / (-ACCEL_MIN * 2) x_lead = np.clip(x_lead, min_x_lead, 1e8) v_lead = np.clip(v_lead, 0.0, 1e8) a_lead = np.clip(a_lead, -10., 5.) lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau) return lead_xv - def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard): + def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard): t_follow = get_T_FOLLOW(personality) v_ego = self.x0[1] self.status = radarstate.leadOne.status or radarstate.leadTwo.status @@ -341,56 +326,28 @@ class LongitudinalMpc: lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) - self.params[:,0] = ACCEL_MIN - self.params[:,1] = ACCEL_MAX + # Fake an obstacle for cruise, this ensures smooth acceleration to set speed + # when the leads are no factor. + v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05) + # TODO does this make sense when max_a is negative? + v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05) + v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) - # Update in ACC mode or ACC/e2e blend - if self.mode == 'acc': - self.params[:,5] = LEAD_DANGER_FACTOR + x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) + self.source = SOURCES[np.argmin(x_obstacles[0])] - # Fake an obstacle for cruise, this ensures smooth acceleration to set speed - # when the leads are no factor. - v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05) - # TODO does this make sense when max_a is negative? - v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05) - v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), - v_lower, - v_upper) - cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) - x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) - self.source = SOURCES[np.argmin(x_obstacles[0])] - - # These are not used in ACC mode - x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0 - - elif self.mode == 'blended': - self.params[:,5] = 1.0 - - x_obstacles = np.column_stack([lead_0_obstacle, - lead_1_obstacle]) - cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0] - xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1]) - x = np.cumsum(np.insert(xforward, 0, x[0])) - - x_and_cruise = np.column_stack([x, cruise_target]) - x = np.min(x_and_cruise, axis=1) - - self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise' - - else: - raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update') - - self.yref[:,1] = x - self.yref[:,2] = v - self.yref[:,3] = a - self.yref[:,5] = j + self.yref[:,:] = 0.0 for i in range(N): self.solver.set(i, "yref", self.yref[i]) self.solver.set(N, "yref", self.yref[N][:COST_E_DIM]) + self.params[:,0] = ACCEL_MIN + self.params[:,1] = ACCEL_MAX self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) self.params[:,4] = t_follow + self.params[:,5] = LEAD_DANGER_FACTOR self.run() if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and @@ -399,18 +356,7 @@ class LongitudinalMpc: else: self.crash_cnt = 0 - # Check if it got within lead comfort range - # TODO This should be done cleaner - if self.mode == 'blended': - if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0): - self.source = 'lead0' - if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \ - (lead_1_obstacle[0] - lead_0_obstacle[0]): - self.source = 'lead1' - def run(self): - # t0 = time.monotonic() - # reset = 0 for i in range(N+1): self.solver.set(i, 'p', self.params[i]) self.solver.constraints_set(0, "lbx", self.x0) @@ -422,13 +368,6 @@ class LongitudinalMpc: self.time_linearization = float(self.solver.get_stats('time_lin')[0]) self.time_integrator = float(self.solver.get_stats('time_sim')[0]) - # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific - # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \ - # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}") - # res = self.solver.get_residuals() - # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}") - # self.solver.print_statistics() - for i in range(N+1): self.x_sol[i] = self.solver.get(i, 'x') for i in range(N): @@ -446,12 +385,8 @@ class LongitudinalMpc: self.last_cloudlog_t = t cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}") self.reset() - # reset = 1 - # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \ - # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") if __name__ == "__main__": ocp = gen_long_ocp() AcadosOcpSolver.generate(ocp, json_file=JSON_FILE) - # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 34fc85f8a5..ad84ecf24f 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -9,13 +9,12 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET from openpilot.common.swaglog import cloudlog -LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] @@ -26,14 +25,12 @@ MIN_ALLOW_THROTTLE_SPEED = 2.5 _A_TOTAL_MAX_V = [1.7, 3.2] _A_TOTAL_MAX_BP = [20., 40.] - def get_max_accel(v_ego): return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS) def get_coast_accel(pitch): return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py - def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): """ This function returns a limited long acceleration allowed, depending on the existing lateral acceleration @@ -52,8 +49,6 @@ class LongitudinalPlanner: 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' self.fcw = False self.dt = dt self.allow_throttle = True @@ -67,7 +62,6 @@ class LongitudinalPlanner: self.v_desired_trajectory = np.zeros(CONTROL_N) self.a_desired_trajectory = np.zeros(CONTROL_N) self.j_desired_trajectory = np.zeros(CONTROL_N) - self.solverExecutionTime = 0.0 @staticmethod def parse_model(model_msg): @@ -90,8 +84,6 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' - if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) else: @@ -113,12 +105,9 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if mode == 'acc': - accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] - steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg - accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) - else: - accel_clip = [ACCEL_MIN, ACCEL_MAX] + accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] + steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg + accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) if reset_state: self.v_desired_filter.x = v_ego @@ -127,7 +116,7 @@ class LongitudinalPlanner: # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) - x, v, a, j, throttle_prob = self.parse_model(sm['modelV2']) + _, _, _, _, throttle_prob = self.parse_model(sm['modelV2']) # Don't clip at low speeds since throttle_prob doesn't account for creep self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED @@ -141,7 +130,7 @@ class LongitudinalPlanner: self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) - self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality) + self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality) self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution) @@ -163,12 +152,13 @@ class LongitudinalPlanner: output_a_target_e2e = sm['modelV2'].action.desiredAcceleration output_should_stop_e2e = sm['modelV2'].action.shouldStop - if mode == 'acc': + if (output_a_target_e2e < output_a_target_mpc) and sm['selfdriveState'].experimentalMode: + output_a_target = output_a_target_e2e + self.output_should_stop = output_should_stop_e2e + self.mpc.source = SOURCES[3] + else: output_a_target = output_a_target_mpc self.output_should_stop = output_should_stop_mpc - else: - output_a_target = min(output_a_target_mpc, output_a_target_e2e) - self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 0fd543dd60..8f66d89bf8 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -4,10 +4,15 @@ from parameterized import parameterized_class from cereal import log -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +def desired_follow_distance(v_ego, v_lead, t_follow=None): + if t_follow is None: + t_follow = get_T_FOLLOW() + return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead) + def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0): man = Maneuver( '', From 97329e46ae11b92cf7f82fed485e5e141be6dfe2 Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Mon, 26 Jan 2026 16:07:13 -0800 Subject: [PATCH 100/144] longitudinal maneuvers: add report for longitudinal mpc tuning (#37030) --- .../mpc_longitudinal_tuning_report.py | 276 ++++++++++++++++++ 1 file changed, 276 insertions(+) create mode 100644 tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py new file mode 100644 index 0000000000..583c6240e5 --- /dev/null +++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py @@ -0,0 +1,276 @@ +import io +import sys +import markdown +import numpy as np +import matplotlib.pyplot as plt +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance + +TIME = 0 +EGO_V = 3 +EGO_A = 5 +LEAD_DISTANCE= 2 + +axis_labels = ['Time (s)', + 'Ego position (m)', + 'Lead distance (m)', + 'Ego Velocity (m/s)', + 'Lead Velocity (m/s)', + 'Ego acceleration (m/s^2)', + ] + + +def get_html_from_results(results, labels, AXIS): + fig, ax = plt.subplots(figsize=(16, 8)) + for idx, speed in enumerate(list(results.keys())): + ax.plot(results[speed][:, TIME], results[speed][:, AXIS], label=labels[idx]) + + ax.set_xlabel('Time (s)') + ax.set_ylabel(axis_labels[AXIS]) + ax.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0) + ax.grid(True, linestyle='--', alpha=0.7) + ax.text(-0.075, 0.5, '.', transform=ax.transAxes, color='none') + + fig_buffer = io.StringIO() + fig.savefig(fig_buffer, format='svg', bbox_inches='tight') + plt.close(fig) + return fig_buffer.getvalue() + '
' + + +htmls = [] + +results = {} +name = 'Resuming behind lead' +labels = [] +for lead_accel in np.linspace(1.0, 4.0, 4): + man = Maneuver( + '', + duration=11, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 10 * lead_accel], + cruise_values=[100, 100], + prob_lead_values=[1.0, 1.0], + breakpoints=[1., 11], + ) + valid, results[lead_accel] = man.evaluate() + labels.append(f'{lead_accel} m/s^2 lead acceleration') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_V)) +htmls.append(get_html_from_results(results, labels, EGO_A)) + + +results = {} +name = 'Approaching stopped car from 140m' +labels = [] +for speed in np.arange(0,45,5): + man = Maneuver( + name, + duration=30., + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=140., + speed_lead_values=[0.0, 0.], + breakpoints=[0., 30.], + ) + valid, results[speed] = man.evaluate() + results[speed][:,2] = results[speed][:,2] - results[speed][:,1] + labels.append(f'{speed} m/s approach speed') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_A)) +htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) + + +results = {} +name = 'Following 5s oscillating lead' +labels = [] +speed = np.int64(10) +for oscil in np.arange(0, 10, 1): + man = Maneuver( + '', + duration=30., + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(speed, speed), + speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil], + breakpoints=[0.,2., 5, 8, 15, 18, 25.], + ) + valid, results[oscil] = man.evaluate() + labels.append(f'{oscil} m/s oscilliation size') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_V)) +htmls.append(get_html_from_results(results, labels, EGO_A)) + + + +results = {} +name = 'Speed profile when converging to steady state lead at 30m/s' +labels = [] +for distance in np.arange(20, 140, 10): + man = Maneuver( + '', + duration=50, + initial_speed=30.0, + lead_relevancy=True, + initial_distance_lead=distance, + speed_lead_values=[30.0], + breakpoints=[0.], + ) + valid, results[distance] = man.evaluate() + results[distance][:,2] = results[distance][:,2] - results[distance][:,1] + labels.append(f'{distance} m initial distance') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_V)) +htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) + + +results = {} +name = 'Speed profile when converging to steady state lead at 20m/s' +labels = [] +for distance in np.arange(20, 140, 10): + man = Maneuver( + '', + duration=50, + initial_speed=20.0, + lead_relevancy=True, + initial_distance_lead=distance, + speed_lead_values=[20.0], + breakpoints=[0.], + ) + valid, results[distance] = man.evaluate() + results[distance][:,2] = results[distance][:,2] - results[distance][:,1] + labels.append(f'{distance} m initial distance') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_V)) +htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) + + +results = {} +name = 'Following car at 30m/s that comes to a stop' +labels = [] +for stop_time in np.arange(4, 14, 1): + man = Maneuver( + '', + duration=50, + initial_speed=30.0, + lead_relevancy=True, + initial_distance_lead=60.0, + speed_lead_values=[30.0, 30.0, 0.0, 0.0], + breakpoints=[0., 20., 20 + stop_time, 30 + stop_time], + ) + valid, results[stop_time] = man.evaluate() + results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1] + labels.append(f'{stop_time} seconds stop time') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_A)) +htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) + + +results = {} +name = 'Response to cut-in at half follow distance' +labels = [] +for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=10, + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(speed, speed)/2, + speed_lead_values=[speed, speed, speed], + cruise_values=[speed, speed, speed], + prob_lead_values=[0.0, 0.0, 1.0], + breakpoints=[0., 5.0, 5.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_A)) +htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) + + +results = {} +name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed' +labels = [] +for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=50, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0, speed], + prob_lead_values=[1.0, 1.0, 1.0], + breakpoints=[0., 1.0, speed/2], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_V)) +htmls.append(get_html_from_results(results, labels, EGO_A)) + + +results = {} +name = 'From stop to cruise' +labels = [] +for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=50, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0], + cruise_values=[0.0, speed], + prob_lead_values=[0.0, 0.0], + breakpoints=[1., 1.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_V)) +htmls.append(get_html_from_results(results, labels, EGO_A)) + + +results = {} +name = 'From cruise to min' +labels = [] +for speed in np.arange(10, 40, 5): + man = Maneuver( + '', + duration=50, + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0], + cruise_values=[speed, 10.0], + prob_lead_values=[0.0, 0.0], + breakpoints=[1., 1.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') + +htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, EGO_V)) +htmls.append(get_html_from_results(results, labels, EGO_A)) + +if len(sys.argv) < 2: + file_name = 'long_mpc_tune_report.html' +else: + file_name = sys.argv[1] + +with open(file_name, 'w') as f: + f.write(markdown.markdown('# MPC longitudinal tuning report')) + +with open(file_name, 'a') as f: + for html in htmls: + f.write(html) From 93015c1c178e218adcfe9688ea13f58effc6d94e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Jan 2026 15:40:09 -0800 Subject: [PATCH 101/144] ui: fix button label color (#37031) label color --- selfdrive/ui/mici/widgets/button.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index 82310577b0..9678827a91 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -16,7 +16,7 @@ except ImportError: SCROLLING_SPEED_PX_S = 50 COMPLICATION_SIZE = 36 -LABEL_COLOR = rl.WHITE +LABEL_COLOR = rl.Color(255, 255, 255, int(255 * 0.9)) LABEL_HORIZONTAL_PADDING = 40 COMPLICATION_GREY = rl.Color(0xAA, 0xAA, 0xAA, 255) PRESSED_SCALE = 1.15 if DO_ZOOM else 1.07 From bf8cae5e7cbbec97483f7e358568ea2e21ca8579 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Jan 2026 16:20:32 -0800 Subject: [PATCH 102/144] mici ui: new icons (#37021) * new icons * add missing * fixed tethering big icon, size of pairing comma, buttons now use 90percent white * why o why * newline * fancy * already default * fixes * add firehose * ltl * fix caps lock icon --------- Co-authored-by: nickorie --- selfdrive/assets/icons_mici/adb_short.png | 3 +++ .../buttons/toggle_dot_disabled.png | 4 +-- .../assets/icons_mici/exclamation_point.png | 4 +-- .../assets/icons_mici/experimental_mode.png | 4 +-- selfdrive/assets/icons_mici/microphone.png | 4 +-- .../icons_mici/offroad_alerts/green_wheel.png | 4 +-- .../offroad_alerts/orange_warning.png | 4 +-- .../icons_mici/offroad_alerts/red_warning.png | 4 +-- .../icons_mici/onroad/blind_spot_left.png | 4 +-- .../icons_mici/onroad/blind_spot_right.png | 4 +-- .../assets/icons_mici/onroad/bookmark.png | 4 +-- .../icons_mici/onroad/bookmark_fill.png | 3 +++ .../driver_monitoring/dm_background.png | 4 +-- .../onroad/driver_monitoring/dm_person.png | 4 +-- .../assets/icons_mici/onroad/eye_fill.png | 4 +-- .../assets/icons_mici/onroad/eye_orange.png | 4 +-- .../assets/icons_mici/onroad/glasses.png | 4 +-- .../assets/icons_mici/onroad/onroad_fade.png | 4 +-- .../icons_mici/onroad/turn_signal_left.png | 4 +-- .../icons_mici/onroad/turn_signal_right.png | 4 +-- selfdrive/assets/icons_mici/settings.png | 4 +-- .../assets/icons_mici/settings/comma_icon.png | 4 +-- .../icons_mici/settings/developer/ssh.png | 4 +-- .../icons_mici/settings/developer_icon.png | 4 +-- .../icons_mici/settings/device/cameras.png | 4 +-- .../icons_mici/settings/device/info.png | 4 +-- .../icons_mici/settings/device/language.png | 4 +-- .../icons_mici/settings/device/lkas.png | 4 +-- .../icons_mici/settings/device/pair.png | 4 +-- .../icons_mici/settings/device/power.png | 4 +-- .../icons_mici/settings/device/reboot.png | 4 +-- .../icons_mici/settings/device/uninstall.png | 4 +-- .../icons_mici/settings/device/up_to_date.png | 4 +-- .../icons_mici/settings/device/update.png | 4 +-- .../icons_mici/settings/device_icon.png | 4 +-- .../assets/icons_mici/settings/firehose.png | 3 +++ .../settings/keyboard/backspace.png | 4 +-- .../settings/keyboard/caps_lock.png | 4 +-- .../settings/keyboard/caps_lower.png | 4 +-- .../settings/keyboard/caps_upper.png | 4 +-- .../icons_mici/settings/keyboard/confirm.png | 4 +-- .../icons_mici/settings/keyboard/space.png | 4 +-- .../icons_mici/settings/manual_icon.png | 3 --- .../settings/network/cell_strength_full.png | 4 +-- .../settings/network/cell_strength_high.png | 4 +-- .../settings/network/cell_strength_low.png | 4 +-- .../settings/network/cell_strength_medium.png | 4 +-- .../settings/network/cell_strength_none.png | 4 +-- .../icons_mici/settings/network/new/lock.png | 4 +-- .../icons_mici/settings/network/new/trash.png | 4 +-- .../icons_mici/settings/network/tethering.png | 4 +-- .../settings/network/wifi_strength_full.png | 4 +-- .../settings/network/wifi_strength_low.png | 4 +-- .../settings/network/wifi_strength_medium.png | 4 +-- .../settings/network/wifi_strength_none.png | 4 +-- .../settings/network/wifi_strength_slash.png | 4 +-- .../icons_mici/settings/toggles_icon.png | 3 --- .../assets/icons_mici/setup/back_new.png | 4 +-- .../setup/driver_monitoring/dm_check.png | 4 +-- .../setup/driver_monitoring/dm_question.png | 4 +-- .../assets/icons_mici/setup/green_car.png | 3 --- .../assets/icons_mici/setup/green_dm.png | 4 +-- .../assets/icons_mici/setup/green_info.png | 4 +-- .../assets/icons_mici/setup/green_pedal.png | 3 --- .../assets/icons_mici/setup/orange_dm.png | 4 +-- .../assets/icons_mici/setup/red_warning.png | 4 +-- selfdrive/assets/icons_mici/setup/restore.png | 4 +-- .../setup/scroll_down_indicator.png | 4 +-- .../setup/small_slider/slider_arrow.png | 4 +-- selfdrive/assets/icons_mici/setup/warning.png | 4 +-- selfdrive/assets/icons_mici/ssh_short.png | 3 +++ .../assets/icons_mici/tethering_short.png | 3 +++ .../assets/icons_mici/turn_intent_left.png | 4 +-- .../assets/icons_mici/turn_intent_right.png | 4 +-- selfdrive/assets/icons_mici/wheel.png | 4 +-- .../assets/icons_mici/wheel_critical.png | 4 +-- selfdrive/ui/mici/layouts/home.py | 20 +++++++-------- selfdrive/ui/mici/layouts/onboarding.py | 4 +-- .../ui/mici/layouts/settings/developer.py | 8 +++--- selfdrive/ui/mici/layouts/settings/device.py | 12 ++++----- .../mici/layouts/settings/network/__init__.py | 9 +++---- .../mici/layouts/settings/network/wifi_ui.py | 12 ++++----- .../ui/mici/layouts/settings/settings.py | 10 ++++---- selfdrive/ui/mici/onroad/alert_renderer.py | 8 +++--- selfdrive/ui/mici/onroad/hud_renderer.py | 4 +-- selfdrive/ui/mici/widgets/button.py | 25 +++++++++++-------- selfdrive/ui/mici/widgets/dialog.py | 4 +-- selfdrive/ui/mici/widgets/pairing_dialog.py | 2 +- system/ui/widgets/mici_keyboard.py | 20 ++++++++------- 89 files changed, 220 insertions(+), 213 deletions(-) create mode 100644 selfdrive/assets/icons_mici/adb_short.png create mode 100644 selfdrive/assets/icons_mici/onroad/bookmark_fill.png create mode 100644 selfdrive/assets/icons_mici/settings/firehose.png delete mode 100644 selfdrive/assets/icons_mici/settings/manual_icon.png delete mode 100644 selfdrive/assets/icons_mici/settings/toggles_icon.png delete mode 100644 selfdrive/assets/icons_mici/setup/green_car.png delete mode 100644 selfdrive/assets/icons_mici/setup/green_pedal.png create mode 100644 selfdrive/assets/icons_mici/ssh_short.png create mode 100644 selfdrive/assets/icons_mici/tethering_short.png diff --git a/selfdrive/assets/icons_mici/adb_short.png b/selfdrive/assets/icons_mici/adb_short.png new file mode 100644 index 0000000000..c49226c858 --- /dev/null +++ b/selfdrive/assets/icons_mici/adb_short.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:263598da73c577c01cebd31ae78f45969ef8b335be1a5f55d54a696bb2982c0a +size 2062 diff --git a/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png 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b/selfdrive/assets/icons_mici/setup/warning.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3bc7a85a0672183d80817f337084060465e143362037955025c11bc8ac531076 -size 3247 +oid sha256:7584d32ac0231381e38646fdac2f71b4517905ef22024f01bd9e124d3918f33a +size 9194 diff --git a/selfdrive/assets/icons_mici/ssh_short.png b/selfdrive/assets/icons_mici/ssh_short.png new file mode 100644 index 0000000000..699ddd72e8 --- /dev/null +++ b/selfdrive/assets/icons_mici/ssh_short.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef1735e6effcb625ea618fa35a6b908b28ca483d5997e15241d48e2d3d29819e +size 1433 diff --git a/selfdrive/assets/icons_mici/tethering_short.png b/selfdrive/assets/icons_mici/tethering_short.png new file mode 100644 index 0000000000..f97fed95de --- /dev/null +++ b/selfdrive/assets/icons_mici/tethering_short.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fce940a3cbd2e9530e8efdde90794013a272919b2f3ea482bc06535c795640e7 +size 2176 diff --git a/selfdrive/assets/icons_mici/turn_intent_left.png b/selfdrive/assets/icons_mici/turn_intent_left.png index 6c2c47e882..3934200c9d 100644 --- a/selfdrive/assets/icons_mici/turn_intent_left.png +++ b/selfdrive/assets/icons_mici/turn_intent_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ead8287b7041c32456e13721c238a71933256ca3d2b7e649c8f8731585eb5de8 -size 906 +oid sha256:001cb8227eaaff5367055395d9b3ccd5822f9a47276091832d8ad28b074d77c9 +size 914 diff --git a/selfdrive/assets/icons_mici/turn_intent_right.png b/selfdrive/assets/icons_mici/turn_intent_right.png index 03a7245e76..e342778731 100644 --- a/selfdrive/assets/icons_mici/turn_intent_right.png +++ b/selfdrive/assets/icons_mici/turn_intent_right.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6fe0532f7040aae78baa85c4cca44f5c939adb6a6f15889e2ca036f4a493f848 -size 935 +oid sha256:7b7e0194a8b9009e493cdce35cd15711596a54227c740e9d6419a3891c6c4037 +size 912 diff --git a/selfdrive/assets/icons_mici/wheel.png b/selfdrive/assets/icons_mici/wheel.png index f122349b82..a43bcb3b99 100644 --- a/selfdrive/assets/icons_mici/wheel.png +++ b/selfdrive/assets/icons_mici/wheel.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cc3ef0c8c3038d75f99df2c565a361107bc903944d1afe91de0cbed9f6ca062a -size 2725 +oid sha256:8cf9c6361ed82551eb99e028e0a75ff56b72ca856ccf7c9a76afe6745434980a +size 2720 diff --git a/selfdrive/assets/icons_mici/wheel_critical.png b/selfdrive/assets/icons_mici/wheel_critical.png index c0e5e8619e..676b0b4d71 100644 --- a/selfdrive/assets/icons_mici/wheel_critical.png +++ b/selfdrive/assets/icons_mici/wheel_critical.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:12783dc05ea6dae2647ac3a3a7c8391d520c3f0cf2f458333a357ee9633eb6c4 -size 10909 +oid sha256:4c3d9082b295f9e5ddef93f8d4e9cb961ea2374c7affd26394bbccb26e7137b2 +size 11023 diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py index 9152bdc7fa..f5dab7249a 100644 --- a/selfdrive/ui/mici/layouts/home.py +++ b/selfdrive/ui/mici/layouts/home.py @@ -92,22 +92,22 @@ class MiciHomeLayout(Widget): self._settings_txt = gui_app.texture("icons_mici/settings.png", 48, 48) self._experimental_txt = gui_app.texture("icons_mici/experimental_mode.png", 48, 48) - self._mic_txt = gui_app.texture("icons_mici/microphone.png", 48, 48) + self._mic_txt = gui_app.texture("icons_mici/microphone.png", 32, 46) self._net_type = NETWORK_TYPES.get(NetworkType.none) self._net_strength = 0 self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44) - self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 44) - self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 44) - self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 44) - self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 44) + self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 37) + self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 37) + self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 37) + self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 37) - self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 55, 35) - self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 55, 35) - self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 55, 35) - self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35) - self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35) + self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 54, 36) + self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 54, 36) + self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 54, 36) + self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 54, 36) + self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 54, 36) self._openpilot_label = MiciLabel("openpilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY) self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN) diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index 16e96d6f7d..4248fef2ec 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -124,9 +124,9 @@ class TrainingGuideDMTutorial(Widget): def __init__(self, continue_callback): super().__init__() - self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 48, 48)) + self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48)) self._back_button.set_click_callback(self._show_bad_face_page) - self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 48, 35)) + self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42)) # Wrap the continue callback to restore settings def wrapped_continue_callback(): diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py index 8fc63e8963..b6145e042e 100644 --- a/selfdrive/ui/mici/layouts/settings/developer.py +++ b/selfdrive/ui/mici/layouts/settings/developer.py @@ -3,7 +3,7 @@ from collections.abc import Callable from openpilot.common.time_helpers import system_time_valid from openpilot.system.ui.widgets.scroller import Scroller -from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl +from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.widgets import NavWidget @@ -36,15 +36,15 @@ class DeveloperLayoutMici(NavWidget): return gui_app.set_modal_overlay(dlg) - txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 77, 44) + txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 56, 64) github_username = ui_state.params.get("GithubUsername") or "" self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh) self._ssh_keys_btn.set_click_callback(ssh_keys_callback) # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address # ******** Main Scroller ******** - self._adb_toggle = BigParamControl("enable ADB", "AdbEnabled") - self._ssh_toggle = BigParamControl("enable SSH", "SshEnabled") + self._adb_toggle = BigCircleParamControl("icons_mici/adb_short.png", "AdbEnabled", icon_size=(82, 82), icon_offset=(0, 12)) + self._ssh_toggle = BigCircleParamControl("icons_mici/ssh_short.png", "SshEnabled", icon_size=(82, 82), icon_offset=(0, 12)) self._joystick_toggle = BigToggle("joystick debug mode", initial_state=ui_state.params.get_bool("JoystickDebugMode"), toggle_callback=self._on_joystick_debug_mode) diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index 988c823a99..30ea90f3d1 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -119,7 +119,7 @@ class UpdaterState(IntEnum): class PairBigButton(BigButton): def __init__(self): - super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png") + super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60)) def _update_state(self): if ui_state.prime_state.is_paired(): @@ -153,8 +153,8 @@ UPDATER_TIMEOUT = 10.0 # seconds to wait for updater to respond class UpdateOpenpilotBigButton(BigButton): def __init__(self): - self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64) - self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 64) + self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75) + self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70) self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64) super().__init__("update openpilot", "", self._txt_update_icon) @@ -291,16 +291,16 @@ class DeviceLayoutMici(NavWidget): def uninstall_openpilot_callback(): ui_state.params.put_bool("DoUninstall", True) - reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png") + reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png", icon_size=(114, 60)) reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset")) uninstall_openpilot_btn = BigButton("uninstall openpilot", "", "icons_mici/settings/device/uninstall.png") uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall")) - reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False) + reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False, icon_size=(64, 70)) reboot_btn.set_click_callback(lambda: _engaged_confirmation_callback(reboot_callback, "reboot")) - self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True) + self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66)) self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off")) self._load_languages() diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py index 1faf49311a..0d5e527836 100644 --- a/selfdrive/ui/mici/layouts/settings/network/__init__.py +++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py @@ -4,7 +4,7 @@ from collections.abc import Callable from openpilot.system.ui.widgets.scroller import Scroller from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici -from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl +from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigCircleToggle from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.lib.prime_state import PrimeType @@ -33,15 +33,14 @@ class NetworkLayoutMici(NavWidget): networks_updated=self._on_network_updated, ) - _tethering_icon = "icons_mici/settings/network/tethering.png" - # ******** Tethering ******** def tethering_toggle_callback(checked: bool): self._tethering_toggle_btn.set_enabled(False) self._network_metered_btn.set_enabled(False) self._wifi_manager.set_tethering_active(checked) - self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback) + self._tethering_toggle_btn = BigCircleToggle("icons_mici/tethering_short.png", toggle_callback=tethering_toggle_callback, + icon_size=(82, 82), icon_offset=(0, 12)) def tethering_password_callback(password: str): if password: @@ -53,7 +52,7 @@ class NetworkLayoutMici(NavWidget): confirm_callback=tethering_password_callback) gui_app.set_modal_overlay(dlg) - txt_tethering = gui_app.texture(_tethering_icon, 64, 53) + txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54) self._tethering_password_btn = BigButton("tethering password", "", txt_tethering) self._tethering_password_btn.set_click_callback(tethering_password_clicked) diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index 565fef5af3..23b89438dc 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -34,12 +34,12 @@ class LoadingAnimation(Widget): class WifiIcon(Widget): def __init__(self): super().__init__() - self.set_rect(rl.Rectangle(0, 0, 89, 64)) + self.set_rect(rl.Rectangle(0, 0, 86, 64)) - self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64) - self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64) - self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64) - self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 23, 32) + self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 86, 64) + self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 86, 64) + self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 86, 64) + self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 22, 32) self._network: Network | None = None self._scale = 1.0 @@ -169,7 +169,7 @@ class ForgetButton(Widget): self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 100, 100) self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 100, 100) - self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 32, 36) + self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 35, 42) self.set_rect(rl.Rectangle(0, 0, 100 + self.HORIZONTAL_MARGIN * 2, 100)) def _handle_mouse_release(self, mouse_pos: MousePos): diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py index a452777748..3917899032 100644 --- a/selfdrive/ui/mici/layouts/settings/settings.py +++ b/selfdrive/ui/mici/layouts/settings/settings.py @@ -36,16 +36,16 @@ class SettingsLayout(NavWidget): self._params = Params() self._current_panel = None # PanelType.DEVICE - toggles_btn = BigButton("toggles", "", "icons_mici/settings/toggles_icon.png") + toggles_btn = BigButton("toggles", "", "icons_mici/settings.png") toggles_btn.set_click_callback(lambda: self._set_current_panel(PanelType.TOGGLES)) - network_btn = BigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png") + network_btn = BigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56)) network_btn.set_click_callback(lambda: self._set_current_panel(PanelType.NETWORK)) - device_btn = BigButton("device", "", "icons_mici/settings/device_icon.png") + device_btn = BigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60)) device_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVICE)) - developer_btn = BigButton("developer", "", "icons_mici/settings/developer_icon.png") + developer_btn = BigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60)) developer_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVELOPER)) - firehose_btn = BigButton("firehose", "", "icons_mici/settings/comma_icon.png") + firehose_btn = BigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62)) firehose_btn.set_click_callback(lambda: self._set_current_panel(PanelType.FIREHOSE)) self._scroller = Scroller([ diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py index 7ee83ff880..64dd04c310 100644 --- a/selfdrive/ui/mici/onroad/alert_renderer.py +++ b/selfdrive/ui/mici/onroad/alert_renderer.py @@ -111,10 +111,10 @@ class AlertRenderer(Widget): self._load_icons() def _load_icons(self): - self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 100, 91) - self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_right.png', 100, 91) - self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128) - self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128) + self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96) + self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_right.png', 104, 96) + self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150) + self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 134, 150) def get_alert(self, sm: messaging.SubMaster) -> Alert | None: """Generate the current alert based on selfdrive state.""" diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py index 7f489ccf98..a6fa1a62bb 100644 --- a/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/selfdrive/ui/mici/onroad/hud_renderer.py @@ -49,8 +49,8 @@ class TurnIntent(Widget): self._turn_intent_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps) self._turn_intent_rotation_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps) - self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 19) - self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_right.png', 50, 19) + self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20) + self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_right.png', 50, 20) def _render(self, _): if self._turn_intent_alpha_filter.x > 1e-2: diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index 9678827a91..0b252c21aa 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -29,9 +29,10 @@ class ScrollState(Enum): class BigCircleButton(Widget): - def __init__(self, icon: str, red: bool = False): + def __init__(self, icon: str, red: bool = False, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)): super().__init__() self._red = red + self._icon_offset = icon_offset # State self.set_rect(rl.Rectangle(0, 0, 180, 180)) @@ -39,7 +40,7 @@ class BigCircleButton(Widget): self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps) # Icons - self._txt_icon = gui_app.texture(icon, 64, 53) + self._txt_icon = gui_app.texture(icon, *icon_size) self._txt_btn_disabled_bg = gui_app.texture("icons_mici/buttons/button_circle_disabled.png", 180, 180) self._txt_btn_bg = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180) @@ -66,13 +67,13 @@ class BigCircleButton(Widget): # draw icon icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) - rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2), - int(self._rect.y + (self._rect.height - self._txt_icon.height) / 2), icon_color) + rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0]), + int(self._rect.y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), icon_color) class BigCircleToggle(BigCircleButton): - def __init__(self, icon: str, toggle_callback: Callable | None = None): - super().__init__(icon, False) + def __init__(self, icon: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)): + super().__init__(icon, False, icon_size=icon_size, icon_offset=icon_offset) self._toggle_callback = toggle_callback # State @@ -80,7 +81,7 @@ class BigCircleToggle(BigCircleButton): # Icons self._txt_toggle_enabled = gui_app.texture("icons_mici/buttons/toggle_dot_enabled.png", 66, 66) - self._txt_toggle_disabled = gui_app.texture("icons_mici/buttons/toggle_dot_disabled.png", 70, 70) # TODO: why discrepancy? + self._txt_toggle_disabled = gui_app.texture("icons_mici/buttons/toggle_dot_disabled.png", 66, 66) def set_checked(self, checked: bool): self._checked = checked @@ -104,11 +105,12 @@ class BigCircleToggle(BigCircleButton): class BigButton(Widget): """A lightweight stand-in for the Qt BigButton, drawn & updated each frame.""" - def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = ""): + def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64)): super().__init__() self.set_rect(rl.Rectangle(0, 0, 402, 180)) self.text = text self.value = value + self._icon_size = icon_size self.set_icon(icon) self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps) @@ -134,7 +136,7 @@ class BigButton(Widget): self._scroll_state = ScrollState.PRE_SCROLL def set_icon(self, icon: Union[str, rl.Texture]): - self._txt_icon = gui_app.texture(icon, 64, 64) if isinstance(icon, str) and len(icon) else icon + self._txt_icon = gui_app.texture(icon, *self._icon_size) if isinstance(icon, str) and len(icon) else icon def set_rotate_icon(self, rotate: bool): if rotate and self._rotate_icon_t is not None: @@ -361,8 +363,9 @@ class BigParamControl(BigToggle): # TODO: param control base class class BigCircleParamControl(BigCircleToggle): - def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None): - super().__init__(icon, toggle_callback) + def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53), + icon_offset: tuple[int, int] = (0, 0)): + super().__init__(icon, toggle_callback, icon_size=icon_size, icon_offset=icon_offset) self._param = param self.params = Params() self.set_checked(self.params.get_bool(self._param, False)) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index abd558aa8d..67123d33a7 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -147,10 +147,10 @@ class BigInputDialog(BigDialogBase): self._backspace_held_time: float | None = None - self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 44, 44) + self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36) self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps) - self._enter_img = gui_app.texture("icons_mici/settings/keyboard/confirm.png", 44, 44) + self._enter_img = gui_app.texture("icons_mici/settings/keyboard/confirm.png", 42, 36) self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps) # rects for top buttons diff --git a/selfdrive/ui/mici/widgets/pairing_dialog.py b/selfdrive/ui/mici/widgets/pairing_dialog.py index e064205d59..88bab2d001 100644 --- a/selfdrive/ui/mici/widgets/pairing_dialog.py +++ b/selfdrive/ui/mici/widgets/pairing_dialog.py @@ -24,7 +24,7 @@ class PairingDialog(NavWidget): self._qr_texture: rl.Texture | None = None self._last_qr_generation = float("-inf") - self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 84, 64) + self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60) self._pair_label = MiciLabel("pair with comma connect", 48, font_weight=FontWeight.BOLD, color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True) diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py index 7459dc5731..a81cf85307 100644 --- a/system/ui/widgets/mici_keyboard.py +++ b/system/ui/widgets/mici_keyboard.py @@ -105,13 +105,15 @@ class SmallKey(Key): class IconKey(Key): - def __init__(self, icon: str, vertical_align: str = "center", char: str = ""): + def __init__(self, icon: str, vertical_align: str = "center", char: str = "", icon_size: tuple[int, int] = (38, 38)): super().__init__(char) - self._icon = gui_app.texture(icon, 38, 38) + self._icon_size = icon_size + self._icon = gui_app.texture(icon, *icon_size) self._vertical_align = vertical_align - def set_icon(self, icon: str): - self._icon = gui_app.texture(icon, 38, 38) + def set_icon(self, icon: str, icon_size: tuple[int, int] | None = None): + size = icon_size if icon_size is not None else self._icon_size + self._icon = gui_app.texture(icon, *size) def _render(self, _): scale = np.interp(self._size_filter.x, [CHAR_FONT_SIZE, CHAR_NEAR_FONT_SIZE], [1, 1.5]) @@ -167,8 +169,8 @@ class MiciKeyboard(Widget): self._super_special_keys = [[Key(char) for char in row] for row in super_special_chars] # control keys - self._space_key = IconKey("icons_mici/settings/keyboard/space.png", char=" ", vertical_align="bottom") - self._caps_key = IconKey("icons_mici/settings/keyboard/caps_lower.png") + self._space_key = IconKey("icons_mici/settings/keyboard/space.png", char=" ", vertical_align="bottom", icon_size=(43, 14)) + self._caps_key = IconKey("icons_mici/settings/keyboard/caps_lower.png", icon_size=(38, 33)) # these two are in different places on some layouts self._123_key, self._123_key2 = SmallKey("123"), SmallKey("123") self._abc_key = SmallKey("abc") @@ -269,14 +271,14 @@ class MiciKeyboard(Widget): self._set_keys(self._upper_keys if cycle else self._lower_keys) if not cycle: self._caps_state = CapsState.LOWER - self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lower.png") + self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lower.png", icon_size=(38, 33)) else: if self._caps_state == CapsState.LOWER: self._caps_state = CapsState.UPPER - self._caps_key.set_icon("icons_mici/settings/keyboard/caps_upper.png") + self._caps_key.set_icon("icons_mici/settings/keyboard/caps_upper.png", icon_size=(38, 33)) elif self._caps_state == CapsState.UPPER: self._caps_state = CapsState.LOCK - self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lock.png") + self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lock.png", icon_size=(39, 38)) else: self._set_uppercase(False) From 2fc10e82998373a9bfe88f1de3d8179393f7567c Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Tue, 27 Jan 2026 17:15:39 -0800 Subject: [PATCH 103/144] Maneuver: log drel and use it in tuning report (#37033) --- .../test/longitudinal_maneuvers/maneuver.py | 3 ++- .../mpc_longitudinal_tuning_report.py | 17 ++++++++++------- 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index dfd5b3e109..ba0379f2d7 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -60,7 +60,8 @@ class Maneuver: log['distance_lead'], log['speed'], speed_lead, - log['acceleration']])) + log['acceleration'], + log['d_rel']])) if d_rel < .4 and (self.only_radar or prob_lead > 0.5): print("Crashed!!!!") diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py index 583c6240e5..8c1a60f5b7 100644 --- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py +++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py @@ -7,16 +7,18 @@ from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance TIME = 0 +LEAD_DISTANCE= 2 EGO_V = 3 EGO_A = 5 -LEAD_DISTANCE= 2 +D_REL = 6 axis_labels = ['Time (s)', 'Ego position (m)', - 'Lead distance (m)', + 'Lead absolute position (m)', 'Ego Velocity (m/s)', 'Lead Velocity (m/s)', 'Ego acceleration (m/s^2)', + 'Lead distance (m)' ] @@ -81,7 +83,7 @@ for speed in np.arange(0,45,5): htmls.append(markdown.markdown('# ' + name)) htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) +htmls.append(get_html_from_results(results, labels, D_REL)) results = {} @@ -102,6 +104,7 @@ for oscil in np.arange(0, 10, 1): labels.append(f'{oscil} m/s oscilliation size') htmls.append(markdown.markdown('# ' + name)) +htmls.append(get_html_from_results(results, labels, D_REL)) htmls.append(get_html_from_results(results, labels, EGO_V)) htmls.append(get_html_from_results(results, labels, EGO_A)) @@ -126,7 +129,7 @@ for distance in np.arange(20, 140, 10): htmls.append(markdown.markdown('# ' + name)) htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) +htmls.append(get_html_from_results(results, labels, D_REL)) results = {} @@ -148,7 +151,7 @@ for distance in np.arange(20, 140, 10): htmls.append(markdown.markdown('# ' + name)) htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) +htmls.append(get_html_from_results(results, labels, D_REL)) results = {} @@ -170,7 +173,7 @@ for stop_time in np.arange(4, 14, 1): htmls.append(markdown.markdown('# ' + name)) htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) +htmls.append(get_html_from_results(results, labels, D_REL)) results = {} @@ -193,7 +196,7 @@ for speed in np.arange(0, 40, 5): htmls.append(markdown.markdown('# ' + name)) htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE)) +htmls.append(get_html_from_results(results, labels, D_REL)) results = {} From 0b958f7c9ae682e0ab95d0dc9f45f605be0dfce0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Jan 2026 19:59:25 -0800 Subject: [PATCH 104/144] onroad: fill bookmark icon when activated (#37034) * bookmark fill * and here's what i would have done * add --- selfdrive/ui/mici/onroad/augmented_road_view.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 71ca03cccf..4e00a3aafe 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -46,6 +46,8 @@ class BookmarkIcon(Widget): super().__init__() self._bookmark_callback = bookmark_callback self._icon = gui_app.texture("icons_mici/onroad/bookmark.png", 180, 180) + self._icon_fill = gui_app.texture("icons_mici/onroad/bookmark_fill.png", 180, 180) + self._active_icon = self._icon self._offset_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps) # State @@ -84,6 +86,7 @@ class BookmarkIcon(Widget): if self._offset_filter.x < 1e-3: self._interacting = False + self._active_icon = self._icon def _handle_mouse_event(self, mouse_event: MouseEvent): if not ui_state.started: @@ -96,6 +99,7 @@ class BookmarkIcon(Widget): self._is_swiping = True self._is_swiping_left = False self._state = BookmarkState.DRAGGING + self._active_icon = self._icon elif mouse_event.left_down and self._is_swiping: self._swipe_current_x = mouse_event.pos.x @@ -112,6 +116,7 @@ class BookmarkIcon(Widget): if swipe_distance > self.PEEK_THRESHOLD: self._state = BookmarkState.TRIGGERED self._triggered_time = rl.get_time() + self._active_icon = self._icon_fill self._bookmark_callback() else: # Otherwise, transition back to hidden @@ -125,8 +130,8 @@ class BookmarkIcon(Widget): """Render the bookmark icon.""" if self._offset_filter.x > 0: icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x) - icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2 # Vertically centered - rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE) + icon_y = self.rect.y + (self.rect.height - self._active_icon.height) / 2 # Vertically centered + rl.draw_texture(self._active_icon, int(icon_x), int(icon_y), rl.WHITE) class AugmentedRoadView(CameraView): From d849d6f1d7a7c380038a9e7e72df70a125fb7b03 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Jan 2026 21:28:50 -0800 Subject: [PATCH 105/144] mici keyboard: bold SmallKey (#37035) bold SmallKey --- system/ui/widgets/mici_keyboard.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py index a81cf85307..7fc3847809 100644 --- a/system/ui/widgets/mici_keyboard.py +++ b/system/ui/widgets/mici_keyboard.py @@ -38,10 +38,10 @@ def fast_euclidean_distance(dx, dy): class Key(Widget): - def __init__(self, char: str): + def __init__(self, char: str, font_weight: FontWeight = FontWeight.SEMI_BOLD): super().__init__() self.char = char - self._font = gui_app.font(FontWeight.SEMI_BOLD) + self._font = gui_app.font(font_weight) self._x_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps) self._y_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps) self._size_filter = BounceFilter(CHAR_FONT_SIZE, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps) @@ -97,7 +97,7 @@ class Key(Widget): class SmallKey(Key): def __init__(self, chars: str): - super().__init__(chars) + super().__init__(chars, FontWeight.BOLD) self._size_filter.x = NUMBER_LAYER_SWITCH_FONT_SIZE def set_font_size(self, size: float): From e89e4407c57f0616bcdc3bd3d48bd19e95274eb9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 28 Jan 2026 19:50:53 -0800 Subject: [PATCH 106/144] Tweak stockLkas alert (#37040) * stockLkas alert is orange, small, mid prio, ldw vis alert * copy exactly from existing ldw alert with prompt sound, black alert --- selfdrive/selfdrived/events.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 35d4bda42f..0e37a959c5 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -479,10 +479,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { EventName.stockLkas: { ET.PERMANENT: Alert( - "TAKE CONTROL", "Stock LKAS: Lane Departure Detected", - AlertStatus.critical, AlertSize.full, - Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.), + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.), ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"), }, From bddd20c4252303362f33241ac35ee7d51acec87b Mon Sep 17 00:00:00 2001 From: T3d Date: Thu, 29 Jan 2026 19:36:51 +0100 Subject: [PATCH 107/144] Complete french translations in app_fr.po (#37023) --- selfdrive/ui/translations/app_fr.po | 94 +++++++++++++++-------------- 1 file changed, 50 insertions(+), 44 deletions(-) diff --git a/selfdrive/ui/translations/app_fr.po b/selfdrive/ui/translations/app_fr.po index f883d4d485..409761588e 100644 --- a/selfdrive/ui/translations/app_fr.po +++ b/selfdrive/ui/translations/app_fr.po @@ -5,10 +5,10 @@ # msgid "" msgstr "" -"Project-Id-Version: PACKAGE VERSION\n" +"Project-Id-Version: \n" "Report-Msgid-Bugs-To: \n" "POT-Creation-Date: 2025-10-23 00:50-0700\n" -"PO-Revision-Date: 2025-10-20 18:19-0700\n" +"PO-Revision-Date: 2026-01-24 12:37+0100\n" "Last-Translator: Automatically generated\n" "Language-Team: none\n" "Language: fr\n" @@ -16,21 +16,22 @@ msgstr "" "Content-Type: text/plain; charset=UTF-8\n" "Content-Transfer-Encoding: 8bit\n" "Plural-Forms: nplurals=2; plural=(n > 1);\n" +"X-Generator: Poedit 3.8\n" #: selfdrive/ui/layouts/settings/device.py:160 #, python-format msgid " Steering torque response calibration is complete." -msgstr "" +msgstr " L'étalonnage de la réponse du couple de direction est terminé." #: selfdrive/ui/layouts/settings/device.py:158 #, python-format msgid " Steering torque response calibration is {}% complete." -msgstr "" +msgstr " L'étalonnage de la réponse du couple de direction est terminé à {}%." #: selfdrive/ui/layouts/settings/device.py:133 #, python-format msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}." -msgstr "" +msgstr " Votre appareil est orienté {:.1f}° {} et {:.1f}° {}." #: selfdrive/ui/layouts/sidebar.py:43 msgid "--" @@ -79,12 +80,13 @@ msgstr "" #: selfdrive/ui/layouts/settings/device.py:148 #, python-format msgid "

Steering lag calibration is complete." -msgstr "" +msgstr "

L'étalonnage du délai de réponse de la direction est terminé." #: selfdrive/ui/layouts/settings/device.py:146 #, python-format msgid "

Steering lag calibration is {}% complete." msgstr "" +"

L'étalonnage du délai de réponse de la direction est terminé à {}%." #: selfdrive/ui/layouts/settings/firehose.py:138 #, python-format @@ -107,7 +109,7 @@ msgstr "AJOUTER" #: system/ui/widgets/network.py:139 #, python-format msgid "APN Setting" -msgstr "" +msgstr "Paramètres APN" #: selfdrive/ui/widgets/offroad_alerts.py:109 #, python-format @@ -117,7 +119,7 @@ msgstr "Accuser réception d'actionnement excessif" #: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95 #, python-format msgid "Advanced" -msgstr "" +msgstr "Avancé" #: selfdrive/ui/layouts/settings/toggles.py:98 #, python-format @@ -208,18 +210,18 @@ msgstr "CONNECTER" #: system/ui/widgets/network.py:369 #, python-format msgid "CONNECTING..." -msgstr "CONNECTER" +msgstr "CONNECTER..." #: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35 #: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318 #, python-format msgid "Cancel" -msgstr "" +msgstr "Annuler" #: system/ui/widgets/network.py:134 #, python-format msgid "Cellular Metered" -msgstr "" +msgstr "Données cellulaire limitées" #: selfdrive/ui/layouts/settings/device.py:68 #, python-format @@ -230,7 +232,7 @@ msgstr "Changer la langue" #, python-format msgid "Changing this setting will restart openpilot if the car is powered on." msgstr "" -" La modification de ce réglage redémarrera openpilot si la voiture est sous " +"La modification de ce réglage redémarrera openpilot si la voiture est sous " "tension." #: selfdrive/ui/widgets/pairing_dialog.py:129 @@ -318,7 +320,7 @@ msgstr "Personnalité de conduite" #: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139 #, python-format msgid "EDIT" -msgstr "" +msgstr "EDITER" #: selfdrive/ui/layouts/sidebar.py:138 msgid "ERROR" @@ -387,22 +389,22 @@ msgstr "" #: system/ui/widgets/network.py:204 #, python-format msgid "Enter APN" -msgstr "" +msgstr "Saisir l'APN" #: system/ui/widgets/network.py:241 #, python-format msgid "Enter SSID" -msgstr "" +msgstr "Entrer le SSID" #: system/ui/widgets/network.py:254 #, python-format msgid "Enter new tethering password" -msgstr "" +msgstr "Saisir le mot de passe du partage de connexion" #: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314 #, python-format msgid "Enter password" -msgstr "" +msgstr "Saisir le mot de passe" #: selfdrive/ui/widgets/ssh_key.py:89 #, python-format @@ -412,7 +414,7 @@ msgstr "Entrez votre nom d'utilisateur GitHub" #: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160 #, python-format msgid "Error" -msgstr "" +msgstr "Erreur" #: selfdrive/ui/layouts/settings/toggles.py:52 #, python-format @@ -431,7 +433,7 @@ msgstr "" #: system/ui/widgets/network.py:373 #, python-format msgid "FORGETTING..." -msgstr "" +msgstr "OUBLIER..." #: selfdrive/ui/widgets/setup.py:44 #, python-format @@ -493,12 +495,12 @@ msgstr "" #: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451 #, python-format msgid "Forget" -msgstr "" +msgstr "Oublier" #: system/ui/widgets/network.py:319 #, python-format msgid "Forget Wi-Fi Network \"{}\"?" -msgstr "" +msgstr "Oublier le réseau Wi-Fi \"{}\" ?" #: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125 msgid "GOOD" @@ -532,7 +534,7 @@ msgstr "INSTALLER" #: system/ui/widgets/network.py:150 #, python-format msgid "IP Address" -msgstr "" +msgstr "Adresse IP" #: selfdrive/ui/layouts/settings/software.py:53 #, python-format @@ -574,7 +576,7 @@ msgstr "" #: selfdrive/ui/layouts/settings/device.py:60 #, python-format msgid "N/A" -msgstr "" +msgstr "NC" #: selfdrive/ui/layouts/sidebar.py:142 msgid "NO" @@ -592,7 +594,7 @@ msgstr "Aucune clé SSH trouvée" #: selfdrive/ui/widgets/ssh_key.py:126 #, python-format msgid "No SSH keys found for user '{}'" -msgstr "Aucune clé SSH trouvée pour l'utilisateur '{username}'" +msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'" #: selfdrive/ui/widgets/offroad_alerts.py:320 #, python-format @@ -677,11 +679,15 @@ msgstr "Éteindre" #, python-format msgid "Prevent large data uploads when on a metered Wi-Fi connection" msgstr "" +"Eviter les transferts de données volumineux lorsque vous êtes connecté à un " +"réseau Wi-Fi limité" #: system/ui/widgets/network.py:135 #, python-format msgid "Prevent large data uploads when on a metered cellular connection" msgstr "" +"Eviter les transferts de données volumineux lors d'une connexion à un réseau " +"cellulaire limité" #: selfdrive/ui/layouts/settings/device.py:25 msgid "" @@ -802,32 +808,32 @@ msgstr "Consultez les règles, fonctionnalités et limitations d'openpilot" #: selfdrive/ui/layouts/settings/software.py:61 #, python-format msgid "SELECT" -msgstr "" +msgstr "SELECTIONNER" #: selfdrive/ui/layouts/settings/developer.py:53 #, python-format msgid "SSH Keys" -msgstr "" +msgstr "Clefs SSH" #: system/ui/widgets/network.py:310 #, python-format msgid "Scanning Wi-Fi networks..." -msgstr "" +msgstr "Analyse des réseaux Wi-Fi..." #: system/ui/widgets/option_dialog.py:36 #, python-format msgid "Select" -msgstr "" +msgstr "Sélectionner" #: selfdrive/ui/layouts/settings/software.py:183 #, python-format msgid "Select a branch" -msgstr "" +msgstr "Sélectionner une branche" #: selfdrive/ui/layouts/settings/device.py:91 #, python-format msgid "Select a language" -msgstr "" +msgstr "Sélectionner un langage" #: selfdrive/ui/layouts/settings/device.py:60 #, python-format @@ -880,12 +886,12 @@ msgstr "TEMPÉRATURE" #: selfdrive/ui/layouts/settings/software.py:61 #, python-format msgid "Target Branch" -msgstr "" +msgstr "Branche cible" #: system/ui/widgets/network.py:124 #, python-format msgid "Tethering Password" -msgstr "" +msgstr "Mot de passe du partage de connexion" #: selfdrive/ui/layouts/settings/settings.py:64 msgid "Toggles" @@ -986,12 +992,12 @@ msgstr "Wi‑Fi" #: system/ui/widgets/network.py:144 #, python-format msgid "Wi-Fi Network Metered" -msgstr "" +msgstr "Réseau Wi-Fi limité" #: system/ui/widgets/network.py:314 #, python-format msgid "Wrong password" -msgstr "" +msgstr "Mauvais mot de passe" #: selfdrive/ui/layouts/onboarding.py:145 #, python-format @@ -1020,12 +1026,12 @@ msgstr "comma prime" #: system/ui/widgets/network.py:142 #, python-format msgid "default" -msgstr "" +msgstr "défaut" #: selfdrive/ui/layouts/settings/device.py:133 #, python-format msgid "down" -msgstr "" +msgstr "bas" #: selfdrive/ui/layouts/settings/software.py:106 #, python-format @@ -1035,7 +1041,7 @@ msgstr "échec de la vérification de mise à jour" #: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314 #, python-format msgid "for \"{}\"" -msgstr "" +msgstr "pour \"{}\"" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format @@ -1045,17 +1051,17 @@ msgstr "km/h" #: system/ui/widgets/network.py:204 #, python-format msgid "leave blank for automatic configuration" -msgstr "" +msgstr "ne pas remplir pour une configuration automatique" #: selfdrive/ui/layouts/settings/device.py:134 #, python-format msgid "left" -msgstr "" +msgstr "gauche" #: system/ui/widgets/network.py:142 #, python-format msgid "metered" -msgstr "" +msgstr "limité" #: selfdrive/ui/onroad/hud_renderer.py:177 #, python-format @@ -1116,7 +1122,7 @@ msgid "" "openpilot is continuously calibrating, resetting is rarely required. " "Resetting calibration will restart openpilot if the car is powered on." msgstr "" -" La modification de ce réglage redémarrera openpilot si la voiture est sous " +"La modification de ce réglage redémarrera openpilot si la voiture est sous " "tension." #: selfdrive/ui/layouts/settings/firehose.py:20 @@ -1153,17 +1159,17 @@ msgstr "" #: selfdrive/ui/layouts/settings/device.py:134 #, python-format msgid "right" -msgstr "" +msgstr "droite" #: system/ui/widgets/network.py:142 #, python-format msgid "unmetered" -msgstr "" +msgstr "non limité" #: selfdrive/ui/layouts/settings/device.py:133 #, python-format msgid "up" -msgstr "" +msgstr "haut" #: selfdrive/ui/layouts/settings/software.py:117 #, python-format From df7f426405de7ea4885cc54cd44c8ee9c9152f8c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Jan 2026 00:09:19 -0800 Subject: [PATCH 108/144] bump opendbc (#37043) * bump opendbc * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index d424d1f247..c8e92d0463 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d424d1f247384b68923b8093875e1a370ef8221d +Subproject commit c8e92d046324be54cfedccd2a27101060861e82b diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7b9039180c..85b79391c3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -77951c4ccd0916b87c8dfda9faa33cd2d5d2cc11 \ No newline at end of file +67f3daf309dc6cbb6844fcbaeb83e6596637e551 \ No newline at end of file From 569099eb70eef3c379bb61c84e4dd0504c63bd99 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Jan 2026 00:09:44 -0800 Subject: [PATCH 109/144] update docs --- docs/CARS.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index b349679395..65f79cdba4 100644 --- a/docs/CARS.md +++ b/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. -# 327 Supported Cars +# 328 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -103,6 +103,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|N-Box 2018|All|openpilot available[1](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Odyssey 2021-26|All|openpilot available[1](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -202,7 +203,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| From 32f0a2cbbc0f39b23105c906ff0d77bc4a746c7f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Jan 2026 00:30:11 -0800 Subject: [PATCH 110/144] bump opendbc (#37046) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index c8e92d0463..e76c2cf5bb 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c8e92d046324be54cfedccd2a27101060861e82b +Subproject commit e76c2cf5bb0042bc5822efa78fff0362feed7b54 From db3df61c34cc8280e81f3204f58454bf3393a743 Mon Sep 17 00:00:00 2001 From: King Art Date: Sat, 31 Jan 2026 01:16:56 +0000 Subject: [PATCH 111/144] fix non-determinism in modeld build (#37042) * fix non-determinism in selfservice model build also trim down model compile dependencies to the minimum required * Apply suggestions from code review --------- Co-authored-by: Shane Smiskol --- selfdrive/modeld/SConscript | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index a184b6a23d..91f3597447 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -29,7 +29,7 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor cython_libs = envCython["LIBS"] + libs commonmodel_lib = lenv.Library('commonmodel', common_src) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) -tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x] +tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]) # Get model metadata for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: From c35df583a5cb287304a88701b2a9040f74788ecc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 31 Jan 2026 15:52:50 -0800 Subject: [PATCH 112/144] tools: enable log caching by default (#36962) --- .github/workflows/repo-maintenance.yaml | 2 +- .github/workflows/tests.yaml | 2 +- selfdrive/car/tests/big_cars_test.sh | 1 - selfdrive/test/process_replay/README.md | 2 +- tools/lib/tests/test_caching.py | 13 ++++++++----- tools/lib/tests/test_logreader.py | 10 ++++++++-- tools/lib/url_file.py | 4 ++-- tools/replay/can_replay.py | 2 -- tools/tuning/measure_steering_accuracy.py | 4 ---- 9 files changed, 21 insertions(+), 19 deletions(-) diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 7bb91c0ca4..b8b29e602f 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -8,7 +8,7 @@ on: env: BASE_IMAGE: openpilot-base BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c jobs: update_translations: diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index c5802b5cb2..c7da619454 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -25,7 +25,7 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh index 863b8bead0..bb6e82dd0e 100755 --- a/selfdrive/car/tests/big_cars_test.sh +++ b/selfdrive/car/tests/big_cars_test.sh @@ -6,7 +6,6 @@ cd $BASEDIR export MAX_EXAMPLES=300 export INTERNAL_SEG_CNT=300 -export FILEREADER_CACHE=1 export INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index dc801e4285..8e279c71cd 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated. Use `test_processes.py` to run the test locally. -Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. +Log files are cached by default. Use `DISABLE_FILEREADER_CACHE='1' test_processes.py` to disable caching. Currently the following processes are tested: diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 6e70ef90b0..cb14098e6d 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -56,13 +56,13 @@ class TestFileDownload: for k, v in retry_defaults.items(): assert getattr(URLFile.pool_manager().connection_pool_kw["retries"], k) == v - # ensure caching off by default and cache dir doesn't get created - os.environ.pop("FILEREADER_CACHE", None) + # ensure caching on by default and cache dir gets created + os.environ.pop("DISABLE_FILEREADER_CACHE", None) if os.path.exists(Paths.download_cache_root()): shutil.rmtree(Paths.download_cache_root()) URLFile(f"{host}/test.txt").get_length() URLFile(f"{host}/test.txt").read() - assert not os.path.exists(Paths.download_cache_root()) + assert os.path.exists(Paths.download_cache_root()) def compare_loads(self, url, start=0, length=None): """Compares range between cached and non cached version""" @@ -90,7 +90,7 @@ class TestFileDownload: def test_small_file(self): # Make sure we don't force cache - os.environ["FILEREADER_CACHE"] = "0" + os.environ.pop("DISABLE_FILEREADER_CACHE", None) small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md" # If you want large file to be larger than a chunk # large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/fcamera.hevc" @@ -119,7 +119,10 @@ class TestFileDownload: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_recover_from_missing_file(self, host, cache_enabled): - os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" + if cache_enabled: + os.environ.pop("DISABLE_FILEREADER_CACHE", None) + else: + os.environ["DISABLE_FILEREADER_CACHE"] = "1" file_url = f"{host}/test.png" diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index ee75a8b1ce..0151940c44 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -93,7 +93,10 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") - os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" + if cache_enabled: + os.environ.pop("DISABLE_FILEREADER_CACHE", None) + else: + os.environ["DISABLE_FILEREADER_CACHE"] = "1" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) with requests.get(QLOG_FILE, stream=True) as r: @@ -181,7 +184,10 @@ class TestLogReader: @parameterized.expand([(True,), (False,)]) @pytest.mark.slow def test_run_across_segments(self, cache_enabled): - os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" + if cache_enabled: + os.environ.pop("DISABLE_FILEREADER_CACHE", None) + else: + os.environ["DISABLE_FILEREADER_CACHE"] = "1" lr = LogReader(f"{TEST_ROUTE}/0:4") assert len(lr.run_across_segments(4, noop)) == len(list(lr)) diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 8e2f0a9222..de12070465 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -74,8 +74,8 @@ class URLFile: self._timeout = Timeout(connect=timeout, read=timeout) self._pos = 0 self._length: int | None = None - # True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input - self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0")) + # Caching enabled by default, can be disabled with DISABLE_FILEREADER_CACHE=1, or overwritten by the cache input + self._force_download = int(os.environ.get("DISABLE_FILEREADER_CACHE", "0")) == 1 if cache is not None: self._force_download = not cache diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 13c30a62ad..0717320077 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -5,8 +5,6 @@ import time import usb1 import threading -os.environ['FILEREADER_CACHE'] = '1' - from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.tools.lib.logreader import LogReader diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index e4aef0ba15..ae3344c2eb 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -117,12 +117,8 @@ if __name__ == "__main__": parser.add_argument('--route', help="route name") parser.add_argument('--addr', default='127.0.0.1', help="IP address for optional ZMQ listener, default to msgq") parser.add_argument('--group', default='all', help="speed group to display, [crawl|slow|medium|fast|veryfast|germany|all], default to all") - parser.add_argument('--cache', default=False, action='store_true', help="use cached data, default to False") args = parser.parse_args() - if args.cache: - os.environ['FILEREADER_CACHE'] = '1' - tool = SteeringAccuracyTool(args) if args.route is not None: From 1dfef69a3c8b6a5e622cfa648075a67ed267bbdd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?P=C3=A1draic=20Slattery?= Date: Sun, 1 Feb 2026 03:37:00 +0100 Subject: [PATCH 113/144] chore: Update outdated GitHub Actions versions (#37020) * chore: Update outdated GitHub Actions versions * just the github ones --------- Co-authored-by: Adeeb Shihadeh --- .github/workflows/auto_pr_review.yaml | 6 ++--- .github/workflows/badges.yaml | 2 +- .github/workflows/ci_weekly_report.yaml | 2 +- .github/workflows/docs.yaml | 4 +-- .github/workflows/jenkins-pr-trigger.yaml | 6 ++--- .github/workflows/mici_raylib_ui_preview.yaml | 4 +-- .github/workflows/model_review.yaml | 4 +-- .github/workflows/prebuilt.yaml | 2 +- .github/workflows/raylib_ui_preview.yaml | 2 +- .github/workflows/release.yaml | 2 +- .github/workflows/repo-maintenance.yaml | 4 +-- .github/workflows/stale.yaml | 4 +-- .github/workflows/tests.yaml | 26 +++++++++---------- 13 files changed, 34 insertions(+), 34 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index c6a1cb9821..725154d21f 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -11,12 +11,12 @@ jobs: pull-requests: write runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: false # Label PRs - - uses: actions/labeler@v5.0.0 + - uses: actions/labeler@v6 with: dot: true configuration-path: .github/labeler.yaml @@ -36,7 +36,7 @@ jobs: # Welcome comment - name: "First timers PR" - uses: actions/first-interaction@v1 + uses: actions/first-interaction@v3 if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' with: repo-token: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index cd30e4f370..3f9c9c1c59 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -17,7 +17,7 @@ jobs: permissions: contents: write steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - uses: ./.github/workflows/setup-with-retry diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml index 37a46b2096..c7f5ec34f0 100644 --- a/.github/workflows/ci_weekly_report.yaml +++ b/.github/workflows/ci_weekly_report.yaml @@ -41,7 +41,7 @@ jobs: if: always() && github.repository == 'commaai/openpilot' steps: - name: Get job results - uses: actions/github-script@v7 + uses: actions/github-script@v8 id: get-job-results with: script: | diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 92c311829c..23a89de1c1 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -22,7 +22,7 @@ jobs: steps: - uses: commaai/timeout@v1 - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true @@ -34,7 +34,7 @@ jobs: mkdocs build # Push to docs.comma.ai - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' with: path: openpilot-docs diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml index 14e2fdf49b..f8a53c5ae0 100644 --- a/.github/workflows/jenkins-pr-trigger.yaml +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -15,7 +15,7 @@ jobs: steps: - name: Check for trigger phrase id: check_comment - uses: actions/github-script@v7 + uses: actions/github-script@v8 with: script: | const triggerPhrase = "trigger-jenkins"; @@ -35,7 +35,7 @@ jobs: - name: Checkout repository if: steps.check_comment.outputs.result == 'true' - uses: actions/checkout@v4 + uses: actions/checkout@v6 with: ref: refs/pull/${{ github.event.issue.number }}/head @@ -49,7 +49,7 @@ jobs: - name: Delete trigger comment if: steps.check_comment.outputs.result == 'true' && always() - uses: actions/github-script@v7 + uses: actions/github-script@v8 with: script: | await github.rest.issues.deleteComment({ diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml index 707825b1ac..5025d407cd 100644 --- a/.github/workflows/mici_raylib_ui_preview.yaml +++ b/.github/workflows/mici_raylib_ui_preview.yaml @@ -33,7 +33,7 @@ jobs: pull-requests: write actions: read steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true @@ -62,7 +62,7 @@ jobs: path: ${{ github.workspace }}/pr_ui - name: Getting master ui # filename: master_ui_raylib/mici_ui_replay.mp4 - uses: actions/checkout@v4 + uses: actions/checkout@v6 with: repository: commaai/ci-artifacts ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml index 0e1825864c..6b8ce143db 100644 --- a/.github/workflows/model_review.yaml +++ b/.github/workflows/model_review.yaml @@ -16,9 +16,9 @@ jobs: if: github.repository == 'commaai/openpilot' steps: - name: Checkout - uses: actions/checkout@v4 + uses: actions/checkout@v6 - name: Checkout master - uses: actions/checkout@v4 + uses: actions/checkout@v6 with: ref: master path: base diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index d8963ec89f..921c27465b 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -29,7 +29,7 @@ jobs: running-workflow-name: 'build prebuilt' repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build master-ci).*).)*$ - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - run: git lfs pull diff --git a/.github/workflows/raylib_ui_preview.yaml b/.github/workflows/raylib_ui_preview.yaml index 18880e8a17..9044a97f53 100644 --- a/.github/workflows/raylib_ui_preview.yaml +++ b/.github/workflows/raylib_ui_preview.yaml @@ -58,7 +58,7 @@ jobs: path: ${{ github.workspace }}/pr_ui - name: Getting master ui - uses: actions/checkout@v4 + uses: actions/checkout@v6 with: repository: commaai/ci-artifacts ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 0f4ce6cb3a..0f34dbe435 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -30,7 +30,7 @@ jobs: running-workflow-name: 'build master-ci' repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build prebuilt).*).)*$ - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true fetch-depth: 0 diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index b8b29e602f..810b602d71 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -15,7 +15,7 @@ jobs: runs-on: ubuntu-latest if: github.repository == 'commaai/openpilot' steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 - uses: ./.github/workflows/setup-with-retry - name: Update translations run: | @@ -39,7 +39,7 @@ jobs: image: ghcr.io/commaai/openpilot-base:latest if: github.repository == 'commaai/openpilot' steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - name: uv lock diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index 1ecd114dc4..cb7c0ac076 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -13,7 +13,7 @@ jobs: stale: runs-on: ubuntu-latest steps: - - uses: actions/stale@v9 + - uses: actions/stale@v10 with: exempt-all-milestones: true @@ -34,7 +34,7 @@ jobs: stale_drafts: runs-on: ubuntu-latest steps: - - uses: actions/stale@v9 + - uses: actions/stale@v10 with: exempt-all-milestones: true diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index c7da619454..4ade42b665 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -41,7 +41,7 @@ jobs: env: STRIPPED_DIR: /tmp/releasepilot steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - name: Getting LFS files @@ -77,7 +77,7 @@ jobs: && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - name: Setup docker push @@ -93,7 +93,7 @@ jobs: name: build macOS runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }} steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV @@ -133,7 +133,7 @@ jobs: env: PYTHONWARNINGS: default steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - uses: ./.github/workflows/setup-with-retry @@ -150,7 +150,7 @@ jobs: && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - uses: ./.github/workflows/setup-with-retry @@ -175,14 +175,14 @@ jobs: && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - uses: ./.github/workflows/setup-with-retry id: setup-step - name: Cache test routes id: dependency-cache - uses: actions/cache@v4 + uses: actions/cache@v5 with: path: .ci_cache/comma_download_cache key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }} @@ -198,7 +198,7 @@ jobs: id: print-diff if: always() run: cat selfdrive/test/process_replay/diff.txt - - uses: actions/upload-artifact@v4 + - uses: actions/upload-artifact@v6 if: always() continue-on-error: true with: @@ -225,7 +225,7 @@ jobs: || fromJSON('["ubuntu-24.04"]') }} if: false # FIXME: Started to timeout recently steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - uses: ./.github/workflows/setup-with-retry @@ -249,7 +249,7 @@ jobs: && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - uses: ./.github/workflows/setup-with-retry @@ -261,7 +261,7 @@ jobs: source selfdrive/test/setup_xvfb.sh && python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py" - name: Upload Raylib UI Report - uses: actions/upload-artifact@v4 + uses: actions/upload-artifact@v6 with: name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} path: selfdrive/ui/tests/test_ui/raylib_report/screenshots @@ -275,7 +275,7 @@ jobs: && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - uses: ./.github/workflows/setup-with-retry @@ -287,7 +287,7 @@ jobs: source selfdrive/test/setup_xvfb.sh && WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py" - name: Upload Raylib UI Report - uses: actions/upload-artifact@v4 + uses: actions/upload-artifact@v6 with: name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} path: selfdrive/ui/tests/diff/report From cd70e23dc3b990eecea2364c8e0b2d2ac48de7fd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 31 Jan 2026 20:15:23 -0800 Subject: [PATCH 114/144] clips: direct rendering with raylib (#36935) * good clips * replace * fix * fix font * lil more --- common/utils.py | 21 ++ system/ui/lib/application.py | 54 +++- tools/clip/run.py | 566 ++++++++++++++++++----------------- 3 files changed, 365 insertions(+), 276 deletions(-) diff --git a/common/utils.py b/common/utils.py index caa9a57958..ccc6719f5f 100644 --- a/common/utils.py +++ b/common/utils.py @@ -10,6 +10,27 @@ import zstandard as zstd LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change +class Timer: + """Simple lap timer for profiling sequential operations.""" + + def __init__(self): + self._start = self._lap = time.monotonic() + self._sections = {} + + def lap(self, name): + now = time.monotonic() + self._sections[name] = now - self._lap + self._lap = now + + @property + def total(self): + return time.monotonic() - self._start + + def fmt(self, duration): + parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items()) + total = self.total + realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A" + return f"{duration}s in {total:.1f}s ({realtime}) | {parts}" def sudo_write(val: str, path: str) -> None: try: diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 151f22ac12..da314a394f 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -1,6 +1,7 @@ import atexit import cffi import os +import queue import time import signal import sys @@ -40,6 +41,9 @@ PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0")) PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100")) # Number of functions to show in profile output RECORD = os.getenv("RECORD") == "1" RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4")) +RECORD_BITRATE = os.getenv("RECORD_BITRATE", "") # Target bitrate e.g. "2000k" +RECORD_SPEED = int(os.getenv("RECORD_SPEED", "1")) # Speed multiplier +OFFSCREEN = os.getenv("OFFSCREEN") == "1" # Disable FPS limiting for fast offline rendering GL_VERSION = """ #version 300 es @@ -213,6 +217,9 @@ class GuiApplication: self._render_texture: rl.RenderTexture | None = None self._burn_in_shader: rl.Shader | None = None self._ffmpeg_proc: subprocess.Popen | None = None + self._ffmpeg_queue: queue.Queue | None = None + self._ffmpeg_thread: threading.Thread | None = None + self._ffmpeg_stop_event: threading.Event | None = None self._textures: dict[str, rl.Texture] = {} self._target_fps: int = _DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() @@ -277,25 +284,36 @@ class GuiApplication: rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) if RECORD: + output_fps = fps * RECORD_SPEED ffmpeg_args = [ 'ffmpeg', '-v', 'warning', # Reduce ffmpeg log spam - '-stats', # Show encoding progress + '-nostats', # Suppress encoding progress '-f', 'rawvideo', # Input format '-pix_fmt', 'rgba', # Input pixel format '-s', f'{self._width}x{self._height}', # Input resolution '-r', str(fps), # Input frame rate '-i', 'pipe:0', # Input from stdin - '-vf', 'vflip,format=yuv420p', # Flip vertically and convert rgba to yuv420p - '-c:v', 'libx264', # Video codec - '-preset', 'ultrafast', # Encoding speed + '-vf', 'vflip,format=yuv420p', # Flip vertically and convert to yuv420p + '-r', str(output_fps), # Output frame rate (for speed multiplier) + '-c:v', 'libx264', + '-preset', 'ultrafast', + ] + if RECORD_BITRATE: + ffmpeg_args += ['-b:v', RECORD_BITRATE, '-maxrate', RECORD_BITRATE, '-bufsize', RECORD_BITRATE] + ffmpeg_args += [ '-y', # Overwrite existing file '-f', 'mp4', # Output format RECORD_OUTPUT, # Output file path ] self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE) + self._ffmpeg_queue = queue.Queue(maxsize=60) # Buffer up to 60 frames + self._ffmpeg_stop_event = threading.Event() + self._ffmpeg_thread = threading.Thread(target=self._ffmpeg_writer_thread, daemon=True) + self._ffmpeg_thread.start() - rl.set_target_fps(fps) + # OFFSCREEN disables FPS limiting for fast offline rendering (e.g. clips) + rl.set_target_fps(0 if OFFSCREEN else fps) self._target_fps = fps self._set_styles() @@ -337,6 +355,21 @@ class GuiApplication: print(f"{green}UI window ready in {elapsed_ms:.1f} ms{reset}") sys.exit(0) + def _ffmpeg_writer_thread(self): + """Background thread that writes frames to ffmpeg.""" + while True: + try: + data = self._ffmpeg_queue.get(timeout=1.0) + if data is None: # Sentinel to stop + break + self._ffmpeg_proc.stdin.write(data) + except queue.Empty: + if self._ffmpeg_stop_event.is_set(): + break + continue + except Exception: + break + def set_modal_overlay(self, overlay, callback: Callable | None = None): if self._modal_overlay.overlay is not None: if hasattr(self._modal_overlay.overlay, 'hide_event'): @@ -409,11 +442,17 @@ class GuiApplication: return texture def close_ffmpeg(self): + if self._ffmpeg_thread is not None: + # Signal thread to stop, send sentinel, then wait for it to drain + self._ffmpeg_stop_event.set() + self._ffmpeg_queue.put(None) + self._ffmpeg_thread.join(timeout=30) + if self._ffmpeg_proc is not None: self._ffmpeg_proc.stdin.flush() self._ffmpeg_proc.stdin.close() try: - self._ffmpeg_proc.wait(timeout=5) + self._ffmpeg_proc.wait(timeout=30) except subprocess.TimeoutExpired: self._ffmpeg_proc.terminate() self._ffmpeg_proc.wait() @@ -525,8 +564,7 @@ class GuiApplication: image = rl.load_image_from_texture(self._render_texture.texture) data_size = image.width * image.height * 4 data = bytes(rl.ffi.buffer(image.data, data_size)) - self._ffmpeg_proc.stdin.write(data) - self._ffmpeg_proc.stdin.flush() + self._ffmpeg_queue.put(data) # Async write via background thread rl.unload_image(image) self._monitor_fps() diff --git a/tools/clip/run.py b/tools/clip/run.py index 9045a4381b..324ee66690 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -1,310 +1,340 @@ #!/usr/bin/env python3 - -import logging import os -import platform -import shutil import sys import time -from argparse import ArgumentParser, ArgumentTypeError -from collections.abc import Sequence +import logging +import subprocess +import threading +import queue +import multiprocessing +import itertools +import numpy as np +import tqdm +from argparse import ArgumentParser from pathlib import Path -from random import randint -from subprocess import Popen -from typing import Literal +from concurrent.futures import ThreadPoolExecutor, as_completed -from cereal.messaging import SubMaster -from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params, UnknownKeyName -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.common.utils import managed_proc from openpilot.tools.lib.route import Route from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.framereader import FrameReader, ffprobe +from openpilot.selfdrive.test.process_replay.migration import migrate_all +from openpilot.common.prefix import OpenpilotPrefix +from openpilot.common.utils import Timer +from msgq.visionipc import VisionIpcServer, VisionStreamType -DEFAULT_OUTPUT = 'output.mp4' -DEMO_START = 90 -DEMO_END = 105 -DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19' FRAMERATE = 20 -PIXEL_DEPTH = '24' -RESOLUTION = '2160x1080' -SECONDS_TO_WARM = 2 -PROC_WAIT_SECONDS = 30*10 +DEMO_ROUTE, DEMO_START, DEMO_END = 'a2a0ccea32023010/2023-07-27--13-01-19', 90, 105 -OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve()) -REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) -UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve()) - -logger = logging.getLogger('clip.py') +logger = logging.getLogger('clip') -def check_for_failure(procs: list[Popen]): - for proc in procs: - exit_code = proc.poll() - if exit_code is not None and exit_code != 0: - cmd = str(proc.args) - if isinstance(proc.args, str): - cmd = proc.args - elif isinstance(proc.args, Sequence): - cmd = str(proc.args[0]) - msg = f'{cmd} failed, exit code {exit_code}' - logger.error(msg) - stdout, stderr = proc.communicate() - if stdout: - logger.error(stdout.decode()) - if stderr: - logger.error(stderr.decode()) - raise ChildProcessError(msg) - - -def escape_ffmpeg_text(value: str): - special_chars = {',': '\\,', ':': '\\:', '=': '\\=', '[': '\\[', ']': '\\]'} - value = value.replace('\\', '\\\\\\\\\\\\\\\\') - for char, escaped in special_chars.items(): - value = value.replace(char, escaped) - return value - - -def get_logreader(route: Route): - return LogReader(route.qlog_paths()[0] if len(route.qlog_paths()) else route.name.canonical_name) - - -def get_meta_text(lr: LogReader, route: Route): - init_data = lr.first('initData') - car_params = lr.first('carParams') - origin_parts = init_data.gitRemote.split('/') - origin = origin_parts[3] if len(origin_parts) > 3 else 'unknown' - return ', '.join([ - f"openpilot v{init_data.version}", - f"route: {route.name.canonical_name}", - f"car: {car_params.carFingerprint}", - f"origin: {origin}", - f"branch: {init_data.gitBranch}", - f"commit: {init_data.gitCommit[:7]}", - f"modified: {str(init_data.dirty).lower()}", - ]) - - -def parse_args(parser: ArgumentParser): +def parse_args(): + parser = ArgumentParser(description="Direct clip renderer") + parser.add_argument("route", nargs="?", help="Route ID (dongle/route or dongle/route/start/end)") + parser.add_argument("-s", "--start", type=int, help="Start time in seconds") + parser.add_argument("-e", "--end", type=int, help="End time in seconds") + parser.add_argument("-o", "--output", default="output.mp4", help="Output file path") + parser.add_argument("-d", "--data-dir", help="Local directory with route data") + parser.add_argument("-t", "--title", help="Title overlay text") + parser.add_argument("-f", "--file-size", type=float, default=9.0, help="Target file size in MB") + parser.add_argument("-x", "--speed", type=int, default=1, help="Speed multiplier") + parser.add_argument("--demo", action="store_true", help="Use demo route with default timing") + parser.add_argument("--big", action="store_true", default=True, help="Use big UI (2160x1080)") + parser.add_argument("--qcam", action="store_true", help="Use qcamera instead of fcamera") + parser.add_argument("--windowed", action="store_true", help="Show window") + parser.add_argument("--no-metadata", action="store_true", help="Disable metadata overlay") + parser.add_argument("--no-time-overlay", action="store_true", help="Disable time overlay") args = parser.parse_args() + if args.demo: - args.route = DEMO_ROUTE - if args.start is None or args.end is None: - args.start = DEMO_START - args.end = DEMO_END - elif args.route.count('/') == 1: - if args.start is None or args.end is None: - parser.error('must provide both start and end if timing is not in the route ID') - elif args.route.count('/') == 3: - if args.start is not None or args.end is not None: - parser.error('don\'t provide timing when including it in the route ID') + args.route, args.start, args.end = args.route or DEMO_ROUTE, args.start or DEMO_START, args.end or DEMO_END + elif not args.route: + parser.error("route is required (or use --demo)") + + if args.route and args.route.count('/') == 3: parts = args.route.split('/') - args.route = '/'.join(parts[:2]) - args.start = int(parts[2]) - args.end = int(parts[3]) + args.route, args.start, args.end = '/'.join(parts[:2]), args.start or int(parts[2]), args.end or int(parts[3]) + + if args.start is None or args.end is None: + parser.error("--start and --end are required") if args.end <= args.start: - parser.error(f'end ({args.end}) must be greater than start ({args.start})') - if args.start < SECONDS_TO_WARM: - parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up') - - try: - args.route = Route(args.route, data_dir=args.data_dir) - except Exception as e: - parser.error(f'failed to get route: {e}') - - # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data - length = round(args.route.max_seg_number * 60) - if args.start >= length: - parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)') - if args.end > length: - parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)') - + parser.error(f"end ({args.end}) must be greater than start ({args.start})") return args -def populate_car_params(lr: LogReader): - init_data = lr.first('initData') - assert init_data is not None +def setup_env(output_path: str, big: bool = False, speed: int = 1, target_mb: float = 0, duration: int = 0): + os.environ.update({"RECORD": "1", "OFFSCREEN": "1", "RECORD_OUTPUT": str(Path(output_path).with_suffix(".mp4"))}) + if speed > 1: + os.environ["RECORD_SPEED"] = str(speed) + if target_mb > 0 and duration > 0: + os.environ["RECORD_BITRATE"] = f"{int(target_mb * 8 * 1024 / (duration / speed))}k" + if big: + os.environ["BIG"] = "1" + + +def _download_segment(path: str) -> bytes: + with FileReader(path) as f: + return bytes(f.read()) + + +def _parse_and_chunk_segment(args: tuple) -> list[dict]: + raw_data, fps = args + from openpilot.tools.lib.logreader import _LogFileReader + messages = migrate_all(list(_LogFileReader("", dat=raw_data, sort_by_time=True))) + if not messages: + return [] + + dt_ns, chunks, current, next_time = 1e9 / fps, [], {}, messages[0].logMonoTime + 1e9 / fps # type: ignore[var-annotated] + for msg in messages: + if msg.logMonoTime >= next_time: + chunks.append(current) + current, next_time = {}, next_time + dt_ns * ((msg.logMonoTime - next_time) // dt_ns + 1) + current[msg.which()] = msg + return chunks + [current] if current else chunks + + +def load_logs_parallel(log_paths: list[str], fps: int = 20) -> list[dict]: + num_workers = min(16, len(log_paths), (multiprocessing.cpu_count() or 1)) + logger.info(f"Downloading {len(log_paths)} segments with {num_workers} workers...") + + with ThreadPoolExecutor(max_workers=num_workers) as pool: + futures = {pool.submit(_download_segment, path): idx for idx, path in enumerate(log_paths)} + raw_data = {futures[f]: f.result() for f in as_completed(futures)} + + logger.info("Parsing and chunking segments...") + with multiprocessing.Pool(num_workers) as pool: + return list(itertools.chain.from_iterable(pool.map(_parse_and_chunk_segment, [(raw_data[i], fps) for i in range(len(log_paths))]))) + + +def patch_submaster(message_chunks, ui_state): + # Reset started_frame so alerts render correctly (recv_frame must be >= started_frame) + ui_state.started_frame = 0 + ui_state.started_time = time.monotonic() + + def mock_update(timeout=None): + sm, t = ui_state.sm, time.monotonic() + sm.updated = dict.fromkeys(sm.services, False) + if sm.frame < len(message_chunks): + for svc, msg in message_chunks[sm.frame].items(): + if svc in sm.data: + sm.seen[svc] = sm.updated[svc] = sm.alive[svc] = sm.valid[svc] = True + sm.data[svc] = getattr(msg.as_builder(), svc) + sm.logMonoTime[svc], sm.recv_time[svc], sm.recv_frame[svc] = msg.logMonoTime, t, sm.frame + sm.frame += 1 + ui_state.sm.update = mock_update + + +def get_frame_dimensions(camera_path: str) -> tuple[int, int]: + """Get frame dimensions from a video file using ffprobe.""" + probe = ffprobe(camera_path) + stream = probe["streams"][0] + return stream["width"], stream["height"] + + +def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=False, frame_size: tuple[int, int] | None = None): + frames_per_seg = fps * 60 + start_frame, end_frame = int(start_time * fps), int(end_time * fps) + current_seg: int = -1 + seg_frames: FrameReader | np.ndarray | None = None + + for global_idx in range(start_frame, end_frame): + seg_idx, local_idx = global_idx // frames_per_seg, global_idx % frames_per_seg + + if seg_idx != current_seg: + current_seg = seg_idx + path = camera_paths[seg_idx] if seg_idx < len(camera_paths) else None + if not path: + raise RuntimeError(f"No camera file for segment {seg_idx}") + + if use_qcam: + w, h = frame_size or get_frame_dimensions(path) + with FileReader(path) as f: + result = subprocess.run(["ffmpeg", "-v", "quiet", "-i", "-", "-f", "rawvideo", "-pix_fmt", "nv12", "-"], + input=f.read(), capture_output=True) + if result.returncode != 0: + raise RuntimeError(f"ffmpeg failed: {result.stderr.decode()}") + seg_frames = np.frombuffer(result.stdout, dtype=np.uint8).reshape(-1, w * h * 3 // 2) + else: + seg_frames = FrameReader(path, pix_fmt="nv12") + + assert seg_frames is not None + frame = seg_frames[local_idx] if use_qcam else seg_frames.get(local_idx) # type: ignore[index, union-attr] + yield global_idx, frame + + +class FrameQueue: + def __init__(self, camera_paths, start_time, end_time, fps=20, prefetch_count=60, use_qcam=False): + # Probe first valid camera file for dimensions + first_path = next((p for p in camera_paths if p), None) + if not first_path: + raise RuntimeError("No valid camera paths") + self.frame_w, self.frame_h = get_frame_dimensions(first_path) + + self._queue, self._stop, self._error = queue.Queue(maxsize=prefetch_count), threading.Event(), None + self._thread = threading.Thread(target=self._worker, + args=(camera_paths, start_time, end_time, fps, use_qcam, (self.frame_w, self.frame_h)), daemon=True) + self._thread.start() + + def _worker(self, camera_paths, start_time, end_time, fps, use_qcam, frame_size): + try: + for idx, data in iter_segment_frames(camera_paths, start_time, end_time, fps, use_qcam, frame_size): + if self._stop.is_set(): + break + self._queue.put((idx, data.tobytes())) + except Exception as e: + logger.exception("Decode error") + self._error = e + finally: + self._queue.put(None) + + def get(self, timeout=60.0): + if self._error: + raise self._error + result = self._queue.get(timeout=timeout) + if result is None: + raise StopIteration("No more frames") + return result + + def stop(self): + self._stop.set() + while not self._queue.empty(): + try: + self._queue.get_nowait() + except queue.Empty: + break + self._thread.join(timeout=2.0) + + +def load_route_metadata(route): + from openpilot.common.params import Params, UnknownKeyName + lr = LogReader(route.log_paths()[0]) + init_data, car_params = lr.first('initData'), lr.first('carParams') params = Params() - entries = init_data.params.entries - for cp in entries: - key, value = cp.key, cp.value + for entry in init_data.params.entries: try: - params.put(key, params.cpp2python(key, value)) + params.put(entry.key, params.cpp2python(entry.key, entry.value)) except UnknownKeyName: - # forks of openpilot may have other Params keys configured. ignore these - logger.warning(f"unknown Params key '{key}', skipping") - logger.debug('persisted CarParams') + pass + + origin = init_data.gitRemote.split('/')[3] if len(init_data.gitRemote.split('/')) > 3 else 'unknown' + return { + 'version': init_data.version, 'route': route.name.canonical_name, + 'car': car_params.carFingerprint if car_params else 'unknown', 'origin': origin, + 'branch': init_data.gitBranch, 'commit': init_data.gitCommit[:7], 'modified': str(init_data.dirty).lower(), + } -def validate_env(parser: ArgumentParser): - if platform.system() not in ['Linux']: - parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n') - for proc in ['Xvfb', 'ffmpeg']: - if shutil.which(proc) is None: - parser.exit(1, f'clip.py: error: missing {proc} command, is it installed?\n') - for proc in [REPLAY, UI]: - if shutil.which(proc) is None: - parser.exit(1, f'clip.py: error: missing {proc} command, did you build openpilot yet?\n') +def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, center=False): + box_color, text_color = rl.Color(0, 0, 0, 85), color or rl.WHITE + # measure_text_ex is NOT auto-scaled, so multiply by font_scale + # draw_text_ex IS auto-scaled, so pass size directly + text_size = rl.measure_text_ex(font, text, size * font_scale, 0) + text_width, text_height = int(text_size.x), int(text_size.y) + if center: + x = (gui_app.width - text_width) // 2 + rl.draw_rectangle(x - 8, y - 4, text_width + 16, text_height + 8, box_color) + rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color) -def validate_output_file(output_file: str): - if not output_file.endswith('.mp4'): - raise ArgumentTypeError('output must be an mp4') - return output_file +def render_overlays(rl, gui_app, font, font_scale, metadata, title, start_time, frame_idx, show_metadata, show_time): + if show_metadata and metadata and frame_idx < FRAMERATE * 5: + m = metadata + text = ", ".join([f"openpilot v{m['version']}", f"route: {m['route']}", f"car: {m['car']}", f"origin: {m['origin']}", + f"branch: {m['branch']}", f"commit: {m['commit']}", f"modified: {m['modified']}"]) + # Truncate if too wide (leave 20px margin on each side) + max_width = gui_app.width - 40 + while rl.measure_text_ex(font, text, 15 * font_scale, 0).x > max_width and len(text) > 20: + text = text[:-4] + "..." + draw_text_box(rl, text, 0, 8, 15, gui_app, font, font_scale, center=True) - -def validate_route(route: str): - if route.count('/') not in (1, 3): - raise ArgumentTypeError(f'route must include or exclude timing, example: {DEMO_ROUTE}') - return route - - -def validate_title(title: str): - if len(title) > 80: - raise ArgumentTypeError('title must be no longer than 80 chars') - return title - - -def wait_for_frames(procs: list[Popen]): - sm = SubMaster(['uiDebug']) - no_frames_drawn = True - while no_frames_drawn: - sm.update() - no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0. - check_for_failure(procs) - - -def clip( - data_dir: str | None, - quality: Literal['low', 'high'], - prefix: str, - route: Route, - out: str, - start: int, - end: int, - speed: int, - target_mb: int, - title: str | None, -): - logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') - lr = get_logreader(route) - - begin_at = max(start - SECONDS_TO_WARM, 0) - duration = end - start - bit_rate_kbps = int(round(target_mb * 8 * 1024 * 1024 / duration / 1000)) - - # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision - display = f':{randint(99, 999)}' - - box_style = 'box=1:boxcolor=black@0.33:boxborderw=7' - meta_text = get_meta_text(lr, route) - overlays = [ - # metadata overlay - f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=15:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'", - # route time overlay - f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38" - ] if title: - overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") + draw_text_box(rl, title, 0, 60, 32, gui_app, font, font_scale, center=True) - if speed > 1: - overlays += [ - f"setpts=PTS/{speed}", - "fps=60", - ] + if show_time: + t = start_time + frame_idx / FRAMERATE + time_text = f"{int(t)//60:02d}:{int(t)%60:02d}" + time_width = int(rl.measure_text_ex(font, time_text, 24 * font_scale, 0).x) + draw_text_box(rl, time_text, gui_app.width - time_width - 45, 45, 24, gui_app, font, font_scale) - ffmpeg_cmd = [ - 'ffmpeg', '-y', - '-video_size', RESOLUTION, - '-framerate', str(FRAMERATE), - '-f', 'x11grab', - '-rtbufsize', '100M', - '-draw_mouse', '0', - '-i', display, - '-c:v', 'libx264', - '-maxrate', f'{bit_rate_kbps}k', - '-bufsize', f'{bit_rate_kbps*2}k', - '-crf', '23', - '-filter:v', ','.join(overlays), - '-preset', 'ultrafast', - '-tune', 'zerolatency', - '-pix_fmt', 'yuv420p', - '-movflags', '+faststart', - '-f', 'mp4', - '-t', str(duration), - out, - ] - replay_cmd = [REPLAY, '--ecam', '-c', '1', '-s', str(begin_at), '--prefix', prefix] - if data_dir: - replay_cmd.extend(['--data_dir', data_dir]) - if quality == 'low': - replay_cmd.append('--qcam') - replay_cmd.append(route.name.canonical_name) +def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False, + title: str | None = None, show_metadata: bool = True, show_time: bool = True, use_qcam: bool = False): + timer, duration = Timer(), end - start - ui_cmd = [UI, '-platform', 'xcb'] - xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}'] + import pyray as rl + if big: + from openpilot.selfdrive.ui.layouts.main import MainLayout + else: + from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout as MainLayout # type: ignore[assignment] + from openpilot.selfdrive.ui.ui_state import ui_state + from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE + timer.lap("import") - with OpenpilotPrefix(prefix, shared_download_cache=True): - populate_car_params(lr) - env = os.environ.copy() - env['DISPLAY'] = display + logger.info(f"Clipping {route.name.canonical_name}, {start}s-{end}s ({duration}s)") + seg_start, seg_end = start // 60, (end - 1) // 60 + 1 + all_chunks = load_logs_parallel(route.log_paths()[seg_start:seg_end], fps=FRAMERATE) + timer.lap("logs") - with managed_proc(xvfb_cmd, env) as xvfb_proc, managed_proc(ui_cmd, env) as ui_proc, managed_proc(replay_cmd, env) as replay_proc: - procs = [xvfb_proc, ui_proc, replay_proc] - logger.info('waiting for replay to begin (loading segments, may take a while)...') - wait_for_frames(procs) - logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...') - time.sleep(SECONDS_TO_WARM) - check_for_failure(procs) - with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc: - procs.append(ffmpeg_proc) - logger.info(f'recording in progress ({duration}s)...') - ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS) - check_for_failure(procs) - logger.info(f'recording complete: {Path(out).resolve()}') + frame_start = (start - seg_start * 60) * FRAMERATE + message_chunks = all_chunks[frame_start:frame_start + duration * FRAMERATE] + if not message_chunks: + logger.error("No messages to render") + sys.exit(1) + + metadata = load_route_metadata(route) if show_metadata else None + if headless: + rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN) + + with OpenpilotPrefix(shared_download_cache=True): + camera_paths = route.qcamera_paths() if use_qcam else route.camera_paths() + frame_queue = FrameQueue(camera_paths, start, end, fps=FRAMERATE, use_qcam=use_qcam) + + vipc = VisionIpcServer("camerad") + vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 4, frame_queue.frame_w, frame_queue.frame_h) + vipc.start_listener() + + patch_submaster(message_chunks, ui_state) + gui_app.init_window("clip", fps=FRAMERATE) + + main_layout = MainLayout() + main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + font = gui_app.font(FontWeight.NORMAL) + timer.lap("setup") + + frame_idx = 0 + with tqdm.tqdm(total=len(message_chunks), desc="Rendering", unit="frame") as pbar: + for should_render in gui_app.render(): + if frame_idx >= len(message_chunks): + break + _, frame_bytes = frame_queue.get() + vipc.send(VisionStreamType.VISION_STREAM_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7)) + ui_state.update() + if should_render: + main_layout.render() + render_overlays(rl, gui_app, font, FONT_SCALE, metadata, title, start, frame_idx, show_metadata, show_time) + frame_idx += 1 + pbar.update(1) + timer.lap("render") + + frame_queue.stop() + gui_app.close() + timer.lap("ffmpeg") + + logger.info(f"Clip saved to: {Path(output).resolve()}") + logger.info(f"Generated {timer.fmt(duration)}") def main(): - p = ArgumentParser(prog='clip.py', description='clip your openpilot route.', epilog='comma.ai') - validate_env(p) - route_group = p.add_mutually_exclusive_group(required=True) - route_group.add_argument('route', nargs='?', type=validate_route, help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})') - route_group.add_argument('--demo', help='use the demo route', action='store_true') - p.add_argument('-d', '--data-dir', help='local directory where route data is stored') - p.add_argument('-e', '--end', help='stop clipping at seconds', type=int) - p.add_argument('-f', '--file-size', help='target file size (Discord/GitHub support max 10MB, default is 9MB)', type=float, default=9.) - p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT) - p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') - p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') - p.add_argument('-x', '--speed', help='record the clip at this speed multiple', type=int, default=1) - p.add_argument('-s', '--start', help='start clipping at seconds', type=int) - p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) - args = parse_args(p) - exit_code = 1 - try: - clip( - data_dir=args.data_dir, - quality=args.quality, - prefix=args.prefix, - route=args.route, - out=args.output, - start=args.start, - end=args.end, - speed=args.speed, - target_mb=args.file_size, - title=args.title, - ) - exit_code = 0 - except KeyboardInterrupt as e: - logger.exception('interrupted by user', exc_info=e) - except Exception as e: - logger.exception('encountered error', exc_info=e) - sys.exit(exit_code) + logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s\t%(message)s") + args = parse_args() + assert args.big, "Clips doesn't support mici UI yet. TODO: make it work" + + setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start) + clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, not args.windowed, + args.big, args.title, not args.no_metadata, not args.no_time_overlay, args.qcam) -if __name__ == '__main__': - logging.basicConfig(level=logging.INFO, format='%(asctime)s %(name)s %(levelname)s\t%(message)s') +if __name__ == "__main__": main() From e76e1e500c07a02a1b534f85238ee1ab0a441d41 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sun, 1 Feb 2026 14:21:00 -0700 Subject: [PATCH 115/144] clips: use AugmentedRoadView instead of MainLayout (#37053) Render only the road view in clips rather than the full main layout, matching the updated UI module structure. --- tools/clip/run.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 324ee66690..5fb693f30a 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -265,9 +265,9 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, import pyray as rl if big: - from openpilot.selfdrive.ui.layouts.main import MainLayout + from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView else: - from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout as MainLayout # type: ignore[assignment] + from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView # type: ignore[assignment] from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE timer.lap("import") @@ -298,8 +298,8 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, patch_submaster(message_chunks, ui_state) gui_app.init_window("clip", fps=FRAMERATE) - main_layout = MainLayout() - main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + road_view = AugmentedRoadView() + road_view.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) font = gui_app.font(FontWeight.NORMAL) timer.lap("setup") @@ -312,7 +312,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, vipc.send(VisionStreamType.VISION_STREAM_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7)) ui_state.update() if should_render: - main_layout.render() + road_view.render() render_overlays(rl, gui_app, font, FONT_SCALE, metadata, title, start, frame_idx, show_metadata, show_time) frame_idx += 1 pbar.update(1) From 0a84b004065edfa2f0efaedad329b3853409c316 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Feb 2026 13:36:55 -0800 Subject: [PATCH 116/144] fix up status for in progress builds --- scripts/ci_results.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/scripts/ci_results.py b/scripts/ci_results.py index c3d53f222a..a133541c69 100755 --- a/scripts/ci_results.py +++ b/scripts/ci_results.py @@ -143,6 +143,9 @@ def format_markdown(gh_status, gh_run_id, jenkins_status, commit_sha, branch): lines.append(f"| {stage['name']} | {icon} {stage['status'].lower()} |") if stage["status"] == "FAILED": failed_jenkins_stages.append(stage["name"]) + # Show overall build status if still in progress + if jenkins_status["in_progress"]: + lines.append("| (build in progress) | :hourglass: in_progress |") else: icon = ":hourglass:" if jenkins_status["in_progress"] else ( ":white_check_mark:" if jenkins_status["result"] == "SUCCESS" else ":x:") From 7a990b99f7e2a714ee00b7f0e7955dd588f3c88e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Feb 2026 15:07:22 -0800 Subject: [PATCH 117/144] rm future-fstrings package (#37056) --- pyproject.toml | 1 - uv.lock | 11 ----------- 2 files changed, 12 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 9a70f69d26..57fd0b8355 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -58,7 +58,6 @@ dependencies = [ # acados deps "casadi >=3.6.6", # 3.12 fixed in 3.6.6 - "future-fstrings", # joystickd "inputs", diff --git a/uv.lock b/uv.lock index b221995b85..e488d1d78b 100644 --- a/uv.lock +++ b/uv.lock @@ -633,15 +633,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/9a/9a/e35b4a917281c0b8419d4207f4334c8e8c5dbf4f3f5f9ada73958d937dcc/frozenlist-1.8.0-py3-none-any.whl", hash = "sha256:0c18a16eab41e82c295618a77502e17b195883241c563b00f0aa5106fc4eaa0d", size = 13409, upload-time = "2025-10-06T05:38:16.721Z" }, ] -[[package]] -name = "future-fstrings" -version = "1.2.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/5d/e2/3874574cce18a2e3608abfe5b4b5b3c9765653c464f5da18df8971cf501d/future_fstrings-1.2.0.tar.gz", hash = "sha256:6cf41cbe97c398ab5a81168ce0dbb8ad95862d3caf23c21e4430627b90844089", size = 5786, upload-time = "2019-06-16T03:04:42.651Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/ab/6d/ea1d52e9038558dd37f5d30647eb9f07888c164960a5d4daa5f970c6da25/future_fstrings-1.2.0-py2.py3-none-any.whl", hash = "sha256:90e49598b553d8746c4dc7d9442e0359d038c3039d802c91c0a55505da318c63", size = 6138, upload-time = "2019-06-16T03:04:40.395Z" }, -] - [[package]] name = "ghp-import" version = "2.1.0" @@ -1302,7 +1293,6 @@ dependencies = [ { name = "cffi" }, { name = "crcmod-plus" }, { name = "cython" }, - { name = "future-fstrings" }, { name = "inputs" }, { name = "json-rpc" }, { name = "kaitaistruct" }, @@ -1396,7 +1386,6 @@ requires-dist = [ { name = "cython" }, { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" }, { name = "dictdiffer", marker = "extra == 'dev'" }, - { name = "future-fstrings" }, { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" }, { name = "inputs" }, { name = "jeepney", marker = "extra == 'dev'" }, From 422de598984a26225ba729546852a2e5eb000eeb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Feb 2026 15:24:42 -0800 Subject: [PATCH 118/144] acados: strip future-fstrings declaration (#37057) * Revert "rm future-fstrings package (#37056)" This reverts commit 7a990b99f7e2a714ee00b7f0e7955dd588f3c88e. * Reapply "rm future-fstrings package (#37056)" This reverts commit 8b93f6646eed6863ad67b9bab558d305ecb8b7b4. * strip it * cleanup --- third_party/acados/acados_template/acados_ocp.py | 1 - third_party/acados/acados_template/acados_ocp_solver.py | 1 - .../acados/acados_template/acados_ocp_solver_pyx.pyx | 1 - third_party/acados/acados_template/acados_sim.py | 1 - third_party/acados/acados_template/acados_sim_solver.py | 1 - .../acados/acados_template/acados_sim_solver_common.pxd | 1 - .../acados/acados_template/acados_sim_solver_pyx.pyx | 1 - third_party/acados/acados_template/acados_solver_common.pxd | 1 - third_party/acados/acados_template/builders.py | 1 - third_party/acados/acados_template/gnsf/__init__.py | 0 third_party/acados/acados_template/utils.py | 1 - third_party/acados/build.sh | 6 ++++++ 12 files changed, 6 insertions(+), 10 deletions(-) delete mode 100644 third_party/acados/acados_template/gnsf/__init__.py diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py index ec02822ceb..d6236e1f6e 100644 --- a/third_party/acados/acados_template/acados_ocp.py +++ b/third_party/acados/acados_template/acados_ocp.py @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py index ffc9cf4b0e..229bdf6039 100644 --- a/third_party/acados/acados_template/acados_ocp_solver.py +++ b/third_party/acados/acados_template/acados_ocp_solver.py @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx index acd7f02d0a..bc03ba086f 100644 --- a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx +++ b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py index c0d6937a49..7faa49fb12 100644 --- a/third_party/acados/acados_template/acados_sim.py +++ b/third_party/acados/acados_template/acados_sim.py @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py index 612f439eaf..de5ee10709 100644 --- a/third_party/acados/acados_template/acados_sim_solver.py +++ b/third_party/acados/acados_template/acados_sim_solver.py @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd index cc6a58efd7..7c20a6d24d 100644 --- a/third_party/acados/acados_template/acados_sim_solver_common.pxd +++ b/third_party/acados/acados_template/acados_sim_solver_common.pxd @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx index be400addc7..01964fd7a0 100644 --- a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx +++ b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd index c6d59d40a5..75d021626f 100644 --- a/third_party/acados/acados_template/acados_solver_common.pxd +++ b/third_party/acados/acados_template/acados_solver_common.pxd @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py index 6f21bfe8cd..8acc05b528 100644 --- a/third_party/acados/acados_template/builders.py +++ b/third_party/acados/acados_template/builders.py @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, # Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py index d6f6c02f84..f27617fa30 100644 --- a/third_party/acados/acados_template/utils.py +++ b/third_party/acados/acados_template/utils.py @@ -1,4 +1,3 @@ -# -*- coding: future_fstrings -*- # # Copyright (c) The acados authors. # diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh index b45c167b16..2b803ef6b2 100755 --- a/third_party/acados/build.sh +++ b/third_party/acados/build.sh @@ -44,6 +44,12 @@ cp -r $DIR/acados_repo/lib $INSTALL_DIR cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/ #pip3 install -e $DIR/acados/interfaces/acados_template +# skip macOS - sed is different :/ +if [[ "$OSTYPE" != "darwin"* ]]; then + # strip future_fstrings to avoid having to install the compatibility package + find $DIR/acados_template/ -type f -exec sed -i '/future.fstrings/d' {} + +fi + # build tera cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/ if [[ "$OSTYPE" == "darwin"* ]]; then From 948d42b3e59e073d23e3506dd254a58a0227f4a5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Feb 2026 15:42:42 -0800 Subject: [PATCH 119/144] rm pyopencl package (#37058) rm pyopencl --- .gitignore | 4 + pyproject.toml | 1 - tools/sim/lib/camerad.py | 54 +++++----- tools/sim/rgb_to_nv12.cl | 119 ----------------------- tools/sim/tests/test_metadrive_bridge.py | 1 - uv.lock | 30 ------ 6 files changed, 35 insertions(+), 174 deletions(-) delete mode 100644 tools/sim/rgb_to_nv12.cl diff --git a/.gitignore b/.gitignore index e4992a3d05..e2a30fb70a 100644 --- a/.gitignore +++ b/.gitignore @@ -95,3 +95,7 @@ Pipfile # Ignore all local history of files .history .ionide + +.claude/ +PLAN.md +TASK.md diff --git a/pyproject.toml b/pyproject.toml index 57fd0b8355..2239770ac9 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -112,7 +112,6 @@ dev = [ "opencv-python-headless", "parameterized >=0.8, <0.9", "pyautogui", - "pyopencl", "pytools>=2025.1.6; platform_machine != 'aarch64'", "pywinctl", "pyprof2calltree", diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py index be4e1a610c..7634b8524d 100644 --- a/tools/sim/lib/camerad.py +++ b/tools/sim/lib/camerad.py @@ -1,14 +1,39 @@ import numpy as np -import os -import pyopencl as cl -import pyopencl.array as cl_array from msgq.visionipc import VisionIpcServer, VisionStreamType from cereal import messaging -from openpilot.common.basedir import BASEDIR from openpilot.tools.sim.lib.common import W, H + +def rgb_to_nv12(rgb): + """Convert RGB image to NV12 (YUV420) format using BT.601 coefficients.""" + h, w = rgb.shape[:2] + r = rgb[:, :, 0].astype(np.int32) + g = rgb[:, :, 1].astype(np.int32) + b = rgb[:, :, 2].astype(np.int32) + + # Y plane - BT.601 coefficients (matches original OpenCL kernel) + y = (((b * 13 + g * 65 + r * 33) + 64) >> 7) + 16 + y = np.clip(y, 0, 255).astype(np.uint8) + + # Subsample RGB for UV (2x2 box filter) + r_sub = (r[0::2, 0::2] + r[0::2, 1::2] + r[1::2, 0::2] + r[1::2, 1::2] + 2) >> 2 + g_sub = (g[0::2, 0::2] + g[0::2, 1::2] + g[1::2, 0::2] + g[1::2, 1::2] + 2) >> 2 + b_sub = (b[0::2, 0::2] + b[0::2, 1::2] + b[1::2, 0::2] + b[1::2, 1::2] + 2) >> 2 + + # U and V planes + u = np.clip((b_sub * 56 - g_sub * 37 - r_sub * 19 + 0x8080) >> 8, 0, 255).astype(np.uint8) + v = np.clip((r_sub * 56 - g_sub * 47 - b_sub * 9 + 0x8080) >> 8, 0, 255).astype(np.uint8) + + # Interleave UV for NV12 format + uv = np.empty((h // 2, w), dtype=np.uint8) + uv[:, 0::2] = u + uv[:, 1::2] = v + + return np.concatenate([y.ravel(), uv.ravel()]).tobytes() + + class Camerad: """Simulates the camerad daemon""" def __init__(self, dual_camera): @@ -24,18 +49,6 @@ class Camerad: self.vipc_server.start_listener() - # set up for pyopencl rgb to yuv conversion - self.ctx = cl.create_some_context() - self.queue = cl.CommandQueue(self.ctx) - cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG " - - kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl") - with open(kernel_fn) as f: - prg = cl.Program(self.ctx, f.read()).build(cl_arg) - self.krnl = prg.rgb_to_nv12 - self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4 - self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4 - def cam_send_yuv_road(self, yuv): self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD) self.frame_road_id += 1 @@ -44,16 +57,11 @@ class Camerad: self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD) self.frame_wide_id += 1 - # Returns: yuv bytes def rgb_to_yuv(self, rgb): + """Convert RGB to NV12 YUV format.""" assert rgb.shape == (H, W, 3), f"{rgb.shape}" assert rgb.dtype == np.uint8 - - rgb_cl = cl_array.to_device(self.queue, rgb) - yuv_cl = cl_array.empty_like(rgb_cl) - self.krnl(self.queue, (self.Wdiv4, self.Hdiv4), None, rgb_cl.data, yuv_cl.data).wait() - yuv = np.resize(yuv_cl.get(), rgb.size // 2) - return yuv.data.tobytes() + return rgb_to_nv12(rgb) def _send_yuv(self, yuv, frame_id, pub_type, yuv_type): eof = int(frame_id * 0.05 * 1e9) diff --git a/tools/sim/rgb_to_nv12.cl b/tools/sim/rgb_to_nv12.cl deleted file mode 100644 index 54816d5d7d..0000000000 --- a/tools/sim/rgb_to_nv12.cl +++ /dev/null @@ -1,119 +0,0 @@ -#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16) -#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8) -#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8) -#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1) - -inline void convert_2_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1) { - uchar2 yy = (uchar2)( - RGB_TO_Y(rgbs1.s2, rgbs1.s1, rgbs1.s0), - RGB_TO_Y(rgbs1.s5, rgbs1.s4, rgbs1.s3) - ); -#ifdef CL_DEBUG - if(yi >= RGB_SIZE) - printf("Y vector2 overflow, %d > %d\n", yi, RGB_SIZE); -#endif - vstore2(yy, 0, out_yuv + yi); -} - -inline void convert_4_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1, const uchar8 rgbs3) { - const uchar4 yy = (uchar4)( - RGB_TO_Y(rgbs1.s2, rgbs1.s1, rgbs1.s0), - RGB_TO_Y(rgbs1.s5, rgbs1.s4, rgbs1.s3), - RGB_TO_Y(rgbs3.s0, rgbs1.s7, rgbs1.s6), - RGB_TO_Y(rgbs3.s3, rgbs3.s2, rgbs3.s1) - ); -#ifdef CL_DEBUG - if(yi > RGB_SIZE - 4) - printf("Y vector4 overflow, %d > %d\n", yi, RGB_SIZE - 4); -#endif - vstore4(yy, 0, out_yuv + yi); -} - -inline void convert_uv(__global uchar * out_yuv, int uvi, - const uchar8 rgbs1, const uchar8 rgbs2) { - // U & V: average of 2x2 pixels square - const short ab = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3); - const short ag = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4); - const short ar = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5); -#ifdef CL_DEBUG - if(uvi >= RGB_SIZE + RGB_SIZE / 2) - printf("UV overflow, %d >= %d\n", uvi, RGB_SIZE + RGB_SIZE / 2); -#endif - out_yuv[uvi] = RGB_TO_U(ar, ag, ab); - out_yuv[uvi+1] = RGB_TO_V(ar, ag, ab); -} - -inline void convert_2_uvs(__global uchar * out_yuv, int uvi, - const uchar8 rgbs1, const uchar8 rgbs2, const uchar8 rgbs3, const uchar8 rgbs4) { - // U & V: average of 2x2 pixels square - const short ab1 = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3); - const short ag1 = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4); - const short ar1 = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5); - const short ab2 = AVERAGE(rgbs1.s6, rgbs3.s1, rgbs2.s6, rgbs4.s1); - const short ag2 = AVERAGE(rgbs1.s7, rgbs3.s2, rgbs2.s7, rgbs4.s2); - const short ar2 = AVERAGE(rgbs3.s0, rgbs3.s3, rgbs4.s0, rgbs4.s3); - uchar4 uv = (uchar4)( - RGB_TO_U(ar1, ag1, ab1), - RGB_TO_V(ar1, ag1, ab1), - RGB_TO_U(ar2, ag2, ab2), - RGB_TO_V(ar2, ag2, ab2) - ); -#ifdef CL_DEBUG1 - if(uvi > RGB_SIZE + RGB_SIZE / 2 - 4) - printf("UV2 overflow, %d >= %d\n", uvi, RGB_SIZE + RGB_SIZE / 2 - 2); -#endif - vstore4(uv, 0, out_yuv + uvi); -} - -__kernel void rgb_to_nv12(__global uchar const * const rgb, - __global uchar * out_yuv) -{ - const int dx = get_global_id(0); - const int dy = get_global_id(1); - const int col = mul24(dx, 4); // Current column in rgb image - const int row = mul24(dy, 4); // Current row in rgb image - const int bgri_start = mad24(row, RGB_STRIDE, mul24(col, 3)); // Start offset of rgb data being converted - const int yi_start = mad24(row, WIDTH, col); // Start offset in the target yuv buffer - int uvi = mad24(row / 2, WIDTH, RGB_SIZE + col); - int num_col = min(WIDTH - col, 4); - int num_row = min(HEIGHT - row, 4); - if(num_row == 4) { - const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start); - const uchar8 rgbs0_1 = vload8(0, rgb + bgri_start + 8); - const uchar8 rgbs1_0 = vload8(0, rgb + bgri_start + RGB_STRIDE); - const uchar8 rgbs1_1 = vload8(0, rgb + bgri_start + RGB_STRIDE + 8); - const uchar8 rgbs2_0 = vload8(0, rgb + bgri_start + RGB_STRIDE * 2); - const uchar8 rgbs2_1 = vload8(0, rgb + bgri_start + RGB_STRIDE * 2 + 8); - const uchar8 rgbs3_0 = vload8(0, rgb + bgri_start + RGB_STRIDE * 3); - const uchar8 rgbs3_1 = vload8(0, rgb + bgri_start + RGB_STRIDE * 3 + 8); - if(num_col == 4) { - convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1); - convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1); - convert_4_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0, rgbs2_1); - convert_4_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0, rgbs3_1); - convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); - convert_2_uvs(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1); - } else if(num_col == 2) { - convert_2_ys(out_yuv, yi_start, rgbs0_0); - convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0); - convert_2_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0); - convert_2_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0); - convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0); - convert_uv(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0); - } - } else { - const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start); - const uchar8 rgbs0_1 = vload8(0, rgb + bgri_start + 8); - const uchar8 rgbs1_0 = vload8(0, rgb + bgri_start + RGB_STRIDE); - const uchar8 rgbs1_1 = vload8(0, rgb + bgri_start + RGB_STRIDE + 8); - if(num_col == 4) { - convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1); - convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1); - convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); - } else if(num_col == 2) { - convert_2_ys(out_yuv, yi_start, rgbs0_0); - convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0); - convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0); - } - } -} diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index 04ce5d584f..9be640d736 100644 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -8,7 +8,6 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridg from 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dependencies = [ "raylib > 5.5.0.3", "qrcode", "mapbox-earcut", + "jeepney", ] [project.optional-dependencies] @@ -93,7 +94,6 @@ testing = [ # https://github.com/pytest-dev/pytest-xdist/pull/1229 "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da", "pytest-timeout", - "pytest-randomly", "pytest-asyncio", "pytest-mock", "pytest-repeat", @@ -107,16 +107,12 @@ dev = [ "azure-identity", "azure-storage-blob", "dictdiffer", - "jeepney", "matplotlib", "opencv-python-headless", "parameterized >=0.8, <0.9", "pyautogui", "pywinctl", - "pyprof2calltree", "tabulate", - "types-requests", - "types-tabulate", ] tools = [ @@ -153,19 +149,9 @@ markers = [ testpaths = [ "common", "selfdrive", - "system/manager", - "system/updated", - "system/athena", - "system/camerad", - "system/hardware", - "system/loggerd", - "system/tests", - "system/ubloxd", - "system/webrtc", - "tools/lib/tests", - "tools/replay", - "tools/cabana", - "cereal/messaging/tests", + "system", + "tools", + "cereal", ] [tool.codespell] @@ -175,7 +161,7 @@ ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,w 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/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html" -# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml +# https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml [tool.ruff] indent-width = 2 lint.select = [ diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 34f33d1959..142e640504 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -47,7 +47,7 @@ def install(): tmpf.write(chunk) with tarfile.open(tmp.name) as tar: - tar.extractall(path=INSTALL_DIR) + tar.extractall(path=INSTALL_DIR, filter="data") def get_plotjuggler_version(): diff --git a/uv.lock b/uv.lock index 85f12bb055..3e3522eb39 100644 --- a/uv.lock +++ b/uv.lock @@ -1294,6 +1294,7 @@ dependencies = [ { name = "crcmod-plus" }, { name = "cython" }, { name = "inputs" }, + { name = "jeepney" }, { name = "json-rpc" }, { name = "kaitaistruct" }, { name = "libusb1" }, @@ -1331,16 +1332,12 @@ dev = [ { name = "azure-identity" }, { name = "azure-storage-blob" }, { name = "dictdiffer" }, - { name = "jeepney" }, { name = "matplotlib" }, { name = "opencv-python-headless" }, { name = "parameterized" }, { name = "pyautogui" }, - { name = "pyprof2calltree" }, { name = "pywinctl" }, { name = "tabulate" }, - { name = "types-requests" }, - { name = "types-tabulate" }, ] docs = [ { name = "jinja2" }, @@ -1356,7 +1353,6 @@ testing = [ { name = "pytest-asyncio" }, { name = "pytest-cpp" }, { name = "pytest-mock" }, - { name = "pytest-randomly" }, { name = 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b/common/i2c.py new file mode 100644 index 0000000000..1dfaa659ad --- /dev/null +++ b/common/i2c.py @@ -0,0 +1,81 @@ +import os +import fcntl +import ctypes + +# I2C constants from /usr/include/linux/i2c-dev.h +I2C_SLAVE = 0x0703 +I2C_SLAVE_FORCE = 0x0706 +I2C_SMBUS = 0x0720 + +# SMBus transfer types +I2C_SMBUS_READ = 1 +I2C_SMBUS_WRITE = 0 +I2C_SMBUS_BYTE_DATA = 2 +I2C_SMBUS_I2C_BLOCK_DATA = 8 + +I2C_SMBUS_BLOCK_MAX = 32 + + +class _I2cSmbusData(ctypes.Union): + _fields_ = [ + ("byte", ctypes.c_uint8), + ("word", ctypes.c_uint16), + ("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)), + ] + + +class _I2cSmbusIoctlData(ctypes.Structure): + _fields_ = [ + ("read_write", ctypes.c_uint8), + ("command", ctypes.c_uint8), + ("size", ctypes.c_uint32), + ("data", ctypes.POINTER(_I2cSmbusData)), + ] + + +class SMBus: + def __init__(self, bus: int): + self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR) + + def __enter__(self) -> 'SMBus': + return self + + def __exit__(self, *args) -> None: + self.close() + + def close(self) -> None: + if hasattr(self, '_fd') and self._fd >= 0: + os.close(self._fd) + self._fd = -1 + + def _set_address(self, addr: int, force: bool = False) -> None: + ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE + fcntl.ioctl(self._fd, ioctl_arg, addr) + + def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None: + ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data)) + fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data) + + def read_byte_data(self, addr: int, register: int, force: bool = False) -> int: + self._set_address(addr, force) + data = _I2cSmbusData() + self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data) + return int(data.byte) + + def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None: + self._set_address(addr, force) + data = _I2cSmbusData() + data.byte = value & 0xFF + self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data) + + def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]: + self._set_address(addr, force) + if not (0 <= length <= I2C_SMBUS_BLOCK_MAX): + raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}") + + data = _I2cSmbusData() + data.block[0] = length + self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data) + read_len = int(data.block[0]) or length + read_len = min(read_len, length) + return [int(b) for b in data.block[1 : read_len + 1]] diff --git a/pyproject.toml b/pyproject.toml index bba80ee8db..19491ba532 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -17,9 +17,6 @@ dependencies = [ "crcmod-plus", # cars + qcomgpsd "tqdm", # cars (fw_versions.py) on start + many one-off uses - # hardwared - "smbus2", # configuring amp - # core "cffi", "scons", diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index d714837bb3..09436e6ff4 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 import time -from smbus2 import SMBus from collections import namedtuple +from openpilot.common.i2c import SMBus + # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask']) diff --git a/system/sensord/sensors/i2c_sensor.py b/system/sensord/sensors/i2c_sensor.py index 336ebb1fd3..57edcc52d9 100644 --- a/system/sensord/sensors/i2c_sensor.py +++ b/system/sensord/sensors/i2c_sensor.py @@ -1,9 +1,10 @@ import time -import smbus2 import ctypes from collections.abc import Iterable from cereal import log +from openpilot.common.i2c import SMBus + class Sensor: class SensorException(Exception): @@ -13,7 +14,7 @@ class Sensor: pass def __init__(self, bus: int) -> None: - self.bus = smbus2.SMBus(bus) + self.bus = SMBus(bus) self.source = log.SensorEventData.SensorSource.velodyne # unknown self.start_ts = 0. diff --git a/uv.lock b/uv.lock index 3e3522eb39..2c5f32ec7b 100644 --- a/uv.lock +++ b/uv.lock @@ -1316,7 +1316,6 @@ dependencies = [ { name = "sentry-sdk" }, { name = "setproctitle" }, { name = "setuptools" }, - { name = "smbus2" }, { name = "sounddevice" }, { name = "spidev", marker = "sys_platform == 'linux'" }, { name = "sympy" }, @@ -1423,7 +1422,6 @@ requires-dist = [ { name = "sentry-sdk" }, { name = "setproctitle" }, { name = "setuptools" }, - { name = "smbus2" }, { name = "sounddevice" }, { name = "spidev", marker = "sys_platform == 'linux'" }, { name = "sympy" }, @@ -4741,15 +4739,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/b7/ce/149a00dd41f10bc29e5921b496af8b574d8413afcd5e30dfa0ed46c2cc5e/six-1.17.0-py2.py3-none-any.whl", hash = "sha256:4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274", size = 11050, upload-time = "2024-12-04T17:35:26.475Z" }, ] -[[package]] -name = "smbus2" -version = "0.6.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/4e/36/afafd43770caae69f04e21402552a8f94a072def46a002fab9357f4852ce/smbus2-0.6.0.tar.gz", hash = "sha256:9b5ff1e998e114730f9dfe0c4babbef06c92468cfb61eaa684e30f225661b95b", size = 17403, upload-time = "2025-12-20T09:02:52.017Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/a5/cf/2e1d6805da6f9c9b3a4358076ff2e072d828ba7fed124edc1b729e210c55/smbus2-0.6.0-py2.py3-none-any.whl", hash = "sha256:03d83d2a9a4afc5ddca0698ccabf101cb3de52bc5aefd7b76778ffb27ff654e0", size = 11849, upload-time = "2025-12-20T09:02:51.219Z" }, -] - [[package]] name = "sortedcontainers" version = "2.4.0" From 5fc4c2b25cce04ce6229da76893a2b46d010ccde Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Feb 2026 20:00:55 -0800 Subject: [PATCH 123/144] ubloxd: remove kaitai (#37055) * rm kaitai * lil less * bs * lil less * lil less --- SConstruct | 2 - pyproject.toml | 3 - system/ubloxd/SConscript | 11 -- system/ubloxd/binary_struct.py | 280 +++++++++++++++++++++++++++ system/ubloxd/generated/glonass.py | 247 ------------------------ system/ubloxd/generated/gps.py | 193 ------------------- system/ubloxd/generated/ubx.py | 273 --------------------------- system/ubloxd/glonass.ksy | 176 ----------------- system/ubloxd/glonass.py | 156 +++++++++++++++ system/ubloxd/gps.ksy | 189 ------------------- system/ubloxd/gps.py | 116 ++++++++++++ system/ubloxd/ubloxd.py | 33 +++- system/ubloxd/ubx.ksy | 293 ----------------------------- system/ubloxd/ubx.py | 180 ++++++++++++++++++ uv.lock | 11 -- 15 files changed, 756 insertions(+), 1407 deletions(-) delete mode 100644 system/ubloxd/SConscript create mode 100644 system/ubloxd/binary_struct.py delete mode 100644 system/ubloxd/generated/glonass.py delete mode 100644 system/ubloxd/generated/gps.py delete mode 100644 system/ubloxd/generated/ubx.py delete mode 100644 system/ubloxd/glonass.ksy create mode 100644 system/ubloxd/glonass.py delete mode 100644 system/ubloxd/gps.ksy create mode 100644 system/ubloxd/gps.py delete mode 100644 system/ubloxd/ubx.ksy create mode 100644 system/ubloxd/ubx.py diff --git a/SConstruct b/SConstruct index 094503cfa7..ca5b7b6cb7 100644 --- a/SConstruct +++ b/SConstruct @@ -14,7 +14,6 @@ Decider('MD5-timestamp') SetOption('num_jobs', max(1, int(os.cpu_count()/2))) -AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers') AddOption('--asan', action='store_true', help='turn on ASAN') AddOption('--ubsan', action='store_true', help='turn on UBSan') AddOption('--mutation', action='store_true', help='generate mutation-ready code') @@ -202,7 +201,6 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ - 'system/ubloxd/SConscript', 'system/loggerd/SConscript', ]) diff --git a/pyproject.toml b/pyproject.toml index 19491ba532..1be5c395f1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -33,9 +33,6 @@ dependencies = [ "pyopenssl < 24.3.0", "pyaudio", - # ubloxd (TODO: just use struct) - "kaitaistruct", - # panda "libusb1", "spidev; platform_system == 'Linux'", diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript deleted file mode 100644 index 9eb50760ba..0000000000 --- a/system/ubloxd/SConscript +++ /dev/null @@ -1,11 +0,0 @@ -Import('env') - -if GetOption('kaitai'): - current_dir = Dir('./generated/').srcnode().abspath - python_cmd = f"kaitai-struct-compiler --target python --outdir {current_dir} $SOURCES" - env.Command(File('./generated/ubx.py'), 'ubx.ksy', python_cmd) - env.Command(File('./generated/gps.py'), 'gps.ksy', python_cmd) - env.Command(File('./generated/glonass.py'), 'glonass.ksy', python_cmd) - # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 - py_glonass_fix = env.Command(None, File('./generated/glonass.py'), "sed -i 's/self._io.align_to_byte()/# self._io.align_to_byte()/' $SOURCES") - env.Depends(py_glonass_fix, File('./generated/glonass.py')) diff --git a/system/ubloxd/binary_struct.py b/system/ubloxd/binary_struct.py new file mode 100644 index 0000000000..7b229620a2 --- /dev/null +++ b/system/ubloxd/binary_struct.py @@ -0,0 +1,280 @@ +""" +Binary struct parsing DSL. + +Defines a declarative schema for binary messages using dataclasses +and type annotations. +""" + +import struct +from enum import Enum +from dataclasses import dataclass, is_dataclass +from typing import Annotated, Any, TypeVar, get_args, get_origin + + +class FieldType: + """Base class for field type descriptors.""" + + +@dataclass(frozen=True) +class IntType(FieldType): + bits: int + signed: bool + big_endian: bool = False + +@dataclass(frozen=True) +class FloatType(FieldType): + bits: int + +@dataclass(frozen=True) +class BitsType(FieldType): + bits: int + +@dataclass(frozen=True) +class BytesType(FieldType): + size: int + +@dataclass(frozen=True) +class ArrayType(FieldType): + element_type: Any + count_field: str + +@dataclass(frozen=True) +class SwitchType(FieldType): + selector: str + cases: dict[Any, Any] + default: Any = None + +@dataclass(frozen=True) +class EnumType(FieldType): + base_type: FieldType + enum_cls: type[Enum] + +@dataclass(frozen=True) +class ConstType(FieldType): + base_type: FieldType + expected: Any + +@dataclass(frozen=True) +class SubstreamType(FieldType): + length_field: str + element_type: Any + +# Common types - little endian +u8 = IntType(8, False) +u16 = IntType(16, False) +u32 = IntType(32, False) +s8 = IntType(8, True) +s16 = IntType(16, True) +s32 = IntType(32, True) +f32 = FloatType(32) +f64 = FloatType(64) +# Big endian variants +u16be = IntType(16, False, big_endian=True) +u32be = IntType(32, False, big_endian=True) +s16be = IntType(16, True, big_endian=True) +s32be = IntType(32, True, big_endian=True) + + +def bits(n: int) -> BitsType: + """Create a bit-level field type.""" + return BitsType(n) + +def bytes_field(size: int) -> BytesType: + """Create a fixed-size bytes field.""" + return BytesType(size) + +def array(element_type: Any, count_field: str) -> ArrayType: + """Create an array/repeated field.""" + return ArrayType(element_type, count_field) + +def switch(selector: str, cases: dict[Any, Any], default: Any = None) -> SwitchType: + """Create a switch-on field.""" + return SwitchType(selector, cases, default) + +def enum(base_type: Any, enum_cls: type[Enum]) -> EnumType: + """Create an enum-wrapped field.""" + field_type = _field_type_from_spec(base_type) + if field_type is None: + raise TypeError(f"Unsupported field type: {base_type!r}") + return EnumType(field_type, enum_cls) + +def const(base_type: Any, expected: Any) -> ConstType: + """Create a constant-value field.""" + field_type = _field_type_from_spec(base_type) + if field_type is None: + raise TypeError(f"Unsupported field type: {base_type!r}") + return ConstType(field_type, expected) + +def substream(length_field: str, element_type: Any) -> SubstreamType: + """Parse a fixed-length substream using an inner schema.""" + return SubstreamType(length_field, element_type) + + +class BinaryReader: + def __init__(self, data: bytes): + self.data = data + self.pos = 0 + self.bit_pos = 0 # 0-7, position within current byte + + def _require(self, n: int) -> None: + if self.pos + n > len(self.data): + raise EOFError("Unexpected end of data") + + def _read_struct(self, fmt: str): + self._align_to_byte() + size = struct.calcsize(fmt) + self._require(size) + value = struct.unpack_from(fmt, self.data, self.pos)[0] + self.pos += size + return value + + def read_bytes(self, n: int) -> bytes: + self._align_to_byte() + self._require(n) + result = self.data[self.pos : self.pos + n] + self.pos += n + return result + + def read_bits_int_be(self, n: int) -> int: + result = 0 + bits_remaining = n + while bits_remaining > 0: + if self.pos >= len(self.data): + raise EOFError("Unexpected end of data while reading bits") + bits_in_byte = 8 - self.bit_pos + bits_to_read = min(bits_remaining, bits_in_byte) + byte_val = self.data[self.pos] + shift = bits_in_byte - bits_to_read + mask = (1 << bits_to_read) - 1 + extracted = (byte_val >> shift) & mask + result = (result << bits_to_read) | extracted + self.bit_pos += bits_to_read + bits_remaining -= bits_to_read + if self.bit_pos >= 8: + self.bit_pos = 0 + self.pos += 1 + return result + + def _align_to_byte(self) -> None: + if self.bit_pos > 0: + self.bit_pos = 0 + self.pos += 1 + + +T = TypeVar('T', bound='BinaryStruct') + + +class BinaryStruct: + """Base class for binary struct definitions.""" + + def __init_subclass__(cls, **kwargs) -> None: + super().__init_subclass__(**kwargs) + if cls is BinaryStruct: + return + if not is_dataclass(cls): + dataclass(init=False)(cls) + fields = list(getattr(cls, '__annotations__', {}).items()) + cls.__binary_fields__ = fields # type: ignore[attr-defined] + + @classmethod + def _read(inner_cls, reader: BinaryReader): + obj = inner_cls.__new__(inner_cls) + for name, spec in inner_cls.__binary_fields__: + value = _parse_field(spec, reader, obj) + setattr(obj, name, value) + return obj + + cls._read = _read # type: ignore[attr-defined] + + @classmethod + def from_bytes(cls: type[T], data: bytes) -> T: + """Parse struct from bytes.""" + reader = BinaryReader(data) + return cls._read(reader) + + @classmethod + def _read(cls: type[T], reader: BinaryReader) -> T: + """Override in subclasses to implement parsing.""" + raise NotImplementedError + + +def _resolve_path(obj: Any, path: str) -> Any: + cur = obj + for part in path.split('.'): + cur = getattr(cur, part) + return cur + +def _unwrap_annotated(spec: Any) -> tuple[Any, ...]: + if get_origin(spec) is Annotated: + return get_args(spec)[1:] + return () + +def _field_type_from_spec(spec: Any) -> FieldType | None: + if isinstance(spec, FieldType): + return spec + for item in _unwrap_annotated(spec): + if isinstance(item, FieldType): + return item + return None + + +def _int_format(field_type: IntType) -> str: + if field_type.bits == 8: + return 'b' if field_type.signed else 'B' + endian = '>' if field_type.big_endian else '<' + if field_type.bits == 16: + code = 'h' if field_type.signed else 'H' + elif field_type.bits == 32: + code = 'i' if field_type.signed else 'I' + else: + raise ValueError(f"Unsupported integer size: {field_type.bits}") + return f"{endian}{code}" + +def _float_format(field_type: FloatType) -> str: + if field_type.bits == 32: + return ' Any: + field_type = _field_type_from_spec(spec) + if field_type is not None: + spec = field_type + if isinstance(spec, ConstType): + value = _parse_field(spec.base_type, reader, obj) + if value != spec.expected: + raise ValueError(f"Invalid constant: expected {spec.expected!r}, got {value!r}") + return value + if isinstance(spec, EnumType): + raw = _parse_field(spec.base_type, reader, obj) + try: + return spec.enum_cls(raw) + except ValueError: + return raw + if isinstance(spec, SwitchType): + key = _resolve_path(obj, spec.selector) + target = spec.cases.get(key, spec.default) + if target is None: + return None + return _parse_field(target, reader, obj) + if isinstance(spec, ArrayType): + count = _resolve_path(obj, spec.count_field) + return [_parse_field(spec.element_type, reader, obj) for _ in range(int(count))] + if isinstance(spec, SubstreamType): + length = _resolve_path(obj, spec.length_field) + data = reader.read_bytes(int(length)) + sub_reader = BinaryReader(data) + return _parse_field(spec.element_type, sub_reader, obj) + if isinstance(spec, IntType): + return reader._read_struct(_int_format(spec)) + if isinstance(spec, FloatType): + return reader._read_struct(_float_format(spec)) + if isinstance(spec, BitsType): + value = reader.read_bits_int_be(spec.bits) + return bool(value) if spec.bits == 1 else value + if isinstance(spec, BytesType): + return reader.read_bytes(spec.size) + if isinstance(spec, type) and issubclass(spec, BinaryStruct): + return spec._read(reader) + raise TypeError(f"Unsupported field spec: {spec!r}") diff --git a/system/ubloxd/generated/glonass.py b/system/ubloxd/generated/glonass.py deleted file mode 100644 index 40aa16bb6f..0000000000 --- a/system/ubloxd/generated/glonass.py +++ /dev/null @@ -1,247 +0,0 @@ -# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -import kaitaistruct -from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO - - -if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9): - raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__)) - -class Glonass(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.idle_chip = self._io.read_bits_int_be(1) != 0 - self.string_number = self._io.read_bits_int_be(4) - # workaround for kaitai bit alignment issue (see glonass_fix.patch for C++) - # self._io.align_to_byte() - _on = self.string_number - if _on == 4: - self.data = Glonass.String4(self._io, self, self._root) - elif _on == 1: - self.data = Glonass.String1(self._io, self, self._root) - elif _on == 3: - self.data = Glonass.String3(self._io, self, self._root) - elif _on == 5: - self.data = Glonass.String5(self._io, self, self._root) - elif _on == 2: - self.data = Glonass.String2(self._io, self, self._root) - else: - self.data = Glonass.StringNonImmediate(self._io, self, self._root) - self.hamming_code = self._io.read_bits_int_be(8) - self.pad_1 = self._io.read_bits_int_be(11) - self.superframe_number = self._io.read_bits_int_be(16) - self.pad_2 = self._io.read_bits_int_be(8) - self.frame_number = self._io.read_bits_int_be(8) - - class String4(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.tau_n_sign = self._io.read_bits_int_be(1) != 0 - self.tau_n_value = self._io.read_bits_int_be(21) - self.delta_tau_n_sign = self._io.read_bits_int_be(1) != 0 - self.delta_tau_n_value = self._io.read_bits_int_be(4) - self.e_n = self._io.read_bits_int_be(5) - self.not_used_1 = self._io.read_bits_int_be(14) - self.p4 = self._io.read_bits_int_be(1) != 0 - self.f_t = self._io.read_bits_int_be(4) - self.not_used_2 = self._io.read_bits_int_be(3) - self.n_t = self._io.read_bits_int_be(11) - self.n = self._io.read_bits_int_be(5) - self.m = self._io.read_bits_int_be(2) - - @property - def tau_n(self): - if hasattr(self, '_m_tau_n'): - return self._m_tau_n - - self._m_tau_n = ((self.tau_n_value * -1) if self.tau_n_sign else self.tau_n_value) - return getattr(self, '_m_tau_n', None) - - @property - def delta_tau_n(self): - if hasattr(self, '_m_delta_tau_n'): - return self._m_delta_tau_n - - self._m_delta_tau_n = ((self.delta_tau_n_value * -1) if self.delta_tau_n_sign else self.delta_tau_n_value) - return getattr(self, '_m_delta_tau_n', None) - - - class StringNonImmediate(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.data_1 = self._io.read_bits_int_be(64) - self.data_2 = self._io.read_bits_int_be(8) - - - class String5(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.n_a = self._io.read_bits_int_be(11) - self.tau_c = self._io.read_bits_int_be(32) - self.not_used = self._io.read_bits_int_be(1) != 0 - self.n_4 = self._io.read_bits_int_be(5) - self.tau_gps = self._io.read_bits_int_be(22) - self.l_n = self._io.read_bits_int_be(1) != 0 - - - class String1(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.not_used = self._io.read_bits_int_be(2) - self.p1 = self._io.read_bits_int_be(2) - self.t_k = self._io.read_bits_int_be(12) - self.x_vel_sign = self._io.read_bits_int_be(1) != 0 - self.x_vel_value = self._io.read_bits_int_be(23) - self.x_accel_sign = self._io.read_bits_int_be(1) != 0 - self.x_accel_value = self._io.read_bits_int_be(4) - self.x_sign = self._io.read_bits_int_be(1) != 0 - self.x_value = self._io.read_bits_int_be(26) - - @property - def x_vel(self): - if hasattr(self, '_m_x_vel'): - return self._m_x_vel - - self._m_x_vel = ((self.x_vel_value * -1) if self.x_vel_sign else self.x_vel_value) - return getattr(self, '_m_x_vel', None) - - @property - def x_accel(self): - if hasattr(self, '_m_x_accel'): - return self._m_x_accel - - self._m_x_accel = ((self.x_accel_value * -1) if self.x_accel_sign else self.x_accel_value) - return getattr(self, '_m_x_accel', None) - - @property - def x(self): - if hasattr(self, '_m_x'): - return self._m_x - - self._m_x = ((self.x_value * -1) if self.x_sign else self.x_value) - return getattr(self, '_m_x', None) - - - class String2(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.b_n = self._io.read_bits_int_be(3) - self.p2 = self._io.read_bits_int_be(1) != 0 - self.t_b = self._io.read_bits_int_be(7) - self.not_used = self._io.read_bits_int_be(5) - self.y_vel_sign = self._io.read_bits_int_be(1) != 0 - self.y_vel_value = self._io.read_bits_int_be(23) - self.y_accel_sign = self._io.read_bits_int_be(1) != 0 - self.y_accel_value = self._io.read_bits_int_be(4) - self.y_sign = self._io.read_bits_int_be(1) != 0 - self.y_value = self._io.read_bits_int_be(26) - - @property - def y_vel(self): - if hasattr(self, '_m_y_vel'): - return self._m_y_vel - - self._m_y_vel = ((self.y_vel_value * -1) if self.y_vel_sign else self.y_vel_value) - return getattr(self, '_m_y_vel', None) - - @property - def y_accel(self): - if hasattr(self, '_m_y_accel'): - return self._m_y_accel - - self._m_y_accel = ((self.y_accel_value * -1) if self.y_accel_sign else self.y_accel_value) - return getattr(self, '_m_y_accel', None) - - @property - def y(self): - if hasattr(self, '_m_y'): - return self._m_y - - self._m_y = ((self.y_value * -1) if self.y_sign else self.y_value) - return getattr(self, '_m_y', None) - - - class String3(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.p3 = self._io.read_bits_int_be(1) != 0 - self.gamma_n_sign = self._io.read_bits_int_be(1) != 0 - self.gamma_n_value = self._io.read_bits_int_be(10) - self.not_used = self._io.read_bits_int_be(1) != 0 - self.p = self._io.read_bits_int_be(2) - self.l_n = self._io.read_bits_int_be(1) != 0 - self.z_vel_sign = self._io.read_bits_int_be(1) != 0 - self.z_vel_value = self._io.read_bits_int_be(23) - self.z_accel_sign = self._io.read_bits_int_be(1) != 0 - self.z_accel_value = self._io.read_bits_int_be(4) - self.z_sign = self._io.read_bits_int_be(1) != 0 - self.z_value = self._io.read_bits_int_be(26) - - @property - def gamma_n(self): - if hasattr(self, '_m_gamma_n'): - return self._m_gamma_n - - self._m_gamma_n = ((self.gamma_n_value * -1) if self.gamma_n_sign else self.gamma_n_value) - return getattr(self, '_m_gamma_n', None) - - @property - def z_vel(self): - if hasattr(self, '_m_z_vel'): - return self._m_z_vel - - self._m_z_vel = ((self.z_vel_value * -1) if self.z_vel_sign else self.z_vel_value) - return getattr(self, '_m_z_vel', None) - - @property - def z_accel(self): - if hasattr(self, '_m_z_accel'): - return self._m_z_accel - - self._m_z_accel = ((self.z_accel_value * -1) if self.z_accel_sign else self.z_accel_value) - return getattr(self, '_m_z_accel', None) - - @property - def z(self): - if hasattr(self, '_m_z'): - return self._m_z - - self._m_z = ((self.z_value * -1) if self.z_sign else self.z_value) - return getattr(self, '_m_z', None) - - diff --git a/system/ubloxd/generated/gps.py b/system/ubloxd/generated/gps.py deleted file mode 100644 index a999016f3e..0000000000 --- a/system/ubloxd/generated/gps.py +++ /dev/null @@ -1,193 +0,0 @@ -# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -import kaitaistruct -from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO - - -if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9): - raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__)) - -class Gps(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.tlm = Gps.Tlm(self._io, self, self._root) - self.how = Gps.How(self._io, self, self._root) - _on = self.how.subframe_id - if _on == 1: - self.body = Gps.Subframe1(self._io, self, self._root) - elif _on == 2: - self.body = Gps.Subframe2(self._io, self, self._root) - elif _on == 3: - self.body = Gps.Subframe3(self._io, self, self._root) - elif _on == 4: - self.body = Gps.Subframe4(self._io, self, self._root) - - class Subframe1(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.week_no = self._io.read_bits_int_be(10) - self.code = self._io.read_bits_int_be(2) - self.sv_accuracy = self._io.read_bits_int_be(4) - self.sv_health = self._io.read_bits_int_be(6) - self.iodc_msb = self._io.read_bits_int_be(2) - self.l2_p_data_flag = self._io.read_bits_int_be(1) != 0 - self.reserved1 = self._io.read_bits_int_be(23) - self.reserved2 = self._io.read_bits_int_be(24) - self.reserved3 = self._io.read_bits_int_be(24) - self.reserved4 = self._io.read_bits_int_be(16) - self._io.align_to_byte() - self.t_gd = self._io.read_s1() - self.iodc_lsb = self._io.read_u1() - self.t_oc = self._io.read_u2be() - self.af_2 = self._io.read_s1() - self.af_1 = self._io.read_s2be() - self.af_0_sign = self._io.read_bits_int_be(1) != 0 - self.af_0_value = self._io.read_bits_int_be(21) - self.reserved5 = self._io.read_bits_int_be(2) - - @property - def af_0(self): - if hasattr(self, '_m_af_0'): - return self._m_af_0 - - self._m_af_0 = ((self.af_0_value - (1 << 21)) if self.af_0_sign else self.af_0_value) - return getattr(self, '_m_af_0', None) - - - class Subframe3(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.c_ic = self._io.read_s2be() - self.omega_0 = self._io.read_s4be() - self.c_is = self._io.read_s2be() - self.i_0 = self._io.read_s4be() - self.c_rc = self._io.read_s2be() - self.omega = self._io.read_s4be() - self.omega_dot_sign = self._io.read_bits_int_be(1) != 0 - self.omega_dot_value = self._io.read_bits_int_be(23) - self._io.align_to_byte() - self.iode = self._io.read_u1() - self.idot_sign = self._io.read_bits_int_be(1) != 0 - self.idot_value = self._io.read_bits_int_be(13) - self.reserved = self._io.read_bits_int_be(2) - - @property - def omega_dot(self): - if hasattr(self, '_m_omega_dot'): - return self._m_omega_dot - - self._m_omega_dot = ((self.omega_dot_value - (1 << 23)) if self.omega_dot_sign else self.omega_dot_value) - return getattr(self, '_m_omega_dot', None) - - @property - def idot(self): - if hasattr(self, '_m_idot'): - return self._m_idot - - self._m_idot = ((self.idot_value - (1 << 13)) if self.idot_sign else self.idot_value) - return getattr(self, '_m_idot', None) - - - class Subframe4(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.data_id = self._io.read_bits_int_be(2) - self.page_id = self._io.read_bits_int_be(6) - self._io.align_to_byte() - _on = self.page_id - if _on == 56: - self.body = Gps.Subframe4.IonosphereData(self._io, self, self._root) - - class IonosphereData(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.a0 = self._io.read_s1() - self.a1 = self._io.read_s1() - self.a2 = self._io.read_s1() - self.a3 = self._io.read_s1() - self.b0 = self._io.read_s1() - self.b1 = self._io.read_s1() - self.b2 = self._io.read_s1() - self.b3 = self._io.read_s1() - - - - class How(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.tow_count = self._io.read_bits_int_be(17) - self.alert = self._io.read_bits_int_be(1) != 0 - self.anti_spoof = self._io.read_bits_int_be(1) != 0 - self.subframe_id = self._io.read_bits_int_be(3) - self.reserved = self._io.read_bits_int_be(2) - - - class Tlm(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.preamble = self._io.read_bytes(1) - if not self.preamble == b"\x8B": - raise kaitaistruct.ValidationNotEqualError(b"\x8B", self.preamble, self._io, u"/types/tlm/seq/0") - self.tlm = self._io.read_bits_int_be(14) - self.integrity_status = self._io.read_bits_int_be(1) != 0 - self.reserved = self._io.read_bits_int_be(1) != 0 - - - class Subframe2(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.iode = self._io.read_u1() - self.c_rs = self._io.read_s2be() - self.delta_n = self._io.read_s2be() - self.m_0 = self._io.read_s4be() - self.c_uc = self._io.read_s2be() - self.e = self._io.read_s4be() - self.c_us = self._io.read_s2be() - self.sqrt_a = self._io.read_u4be() - self.t_oe = self._io.read_u2be() - self.fit_interval_flag = self._io.read_bits_int_be(1) != 0 - self.aoda = self._io.read_bits_int_be(5) - self.reserved = self._io.read_bits_int_be(2) - - - diff --git a/system/ubloxd/generated/ubx.py b/system/ubloxd/generated/ubx.py deleted file mode 100644 index 9946584388..0000000000 --- a/system/ubloxd/generated/ubx.py +++ /dev/null @@ -1,273 +0,0 @@ -# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -import kaitaistruct -from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO -from enum import Enum - - -if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9): - raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__)) - -class Ubx(KaitaiStruct): - - class GnssType(Enum): - gps = 0 - sbas = 1 - galileo = 2 - beidou = 3 - imes = 4 - qzss = 5 - glonass = 6 - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.magic = self._io.read_bytes(2) - if not self.magic == b"\xB5\x62": - raise kaitaistruct.ValidationNotEqualError(b"\xB5\x62", self.magic, self._io, u"/seq/0") - self.msg_type = self._io.read_u2be() - self.length = self._io.read_u2le() - _on = self.msg_type - if _on == 2569: - self.body = Ubx.MonHw(self._io, self, self._root) - elif _on == 533: - self.body = Ubx.RxmRawx(self._io, self, self._root) - elif _on == 531: - self.body = Ubx.RxmSfrbx(self._io, self, self._root) - elif _on == 309: - self.body = Ubx.NavSat(self._io, self, self._root) - elif _on == 2571: - self.body = Ubx.MonHw2(self._io, self, self._root) - elif _on == 263: - self.body = Ubx.NavPvt(self._io, self, self._root) - - class RxmRawx(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.rcv_tow = self._io.read_f8le() - self.week = self._io.read_u2le() - self.leap_s = self._io.read_s1() - self.num_meas = self._io.read_u1() - self.rec_stat = self._io.read_u1() - self.reserved1 = self._io.read_bytes(3) - self._raw_meas = [] - self.meas = [] - for i in range(self.num_meas): - self._raw_meas.append(self._io.read_bytes(32)) - _io__raw_meas = KaitaiStream(BytesIO(self._raw_meas[i])) - self.meas.append(Ubx.RxmRawx.Measurement(_io__raw_meas, self, self._root)) - - - class Measurement(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.pr_mes = self._io.read_f8le() - self.cp_mes = self._io.read_f8le() - self.do_mes = self._io.read_f4le() - self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1()) - self.sv_id = self._io.read_u1() - self.reserved2 = self._io.read_bytes(1) - self.freq_id = self._io.read_u1() - self.lock_time = self._io.read_u2le() - self.cno = self._io.read_u1() - self.pr_stdev = self._io.read_u1() - self.cp_stdev = self._io.read_u1() - self.do_stdev = self._io.read_u1() - self.trk_stat = self._io.read_u1() - self.reserved3 = self._io.read_bytes(1) - - - - class RxmSfrbx(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1()) - self.sv_id = self._io.read_u1() - self.reserved1 = self._io.read_bytes(1) - self.freq_id = self._io.read_u1() - self.num_words = self._io.read_u1() - self.reserved2 = self._io.read_bytes(1) - self.version = self._io.read_u1() - self.reserved3 = self._io.read_bytes(1) - self.body = [] - for i in range(self.num_words): - self.body.append(self._io.read_u4le()) - - - - class NavSat(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.itow = self._io.read_u4le() - self.version = self._io.read_u1() - self.num_svs = self._io.read_u1() - self.reserved = self._io.read_bytes(2) - self._raw_svs = [] - self.svs = [] - for i in range(self.num_svs): - self._raw_svs.append(self._io.read_bytes(12)) - _io__raw_svs = KaitaiStream(BytesIO(self._raw_svs[i])) - self.svs.append(Ubx.NavSat.Nav(_io__raw_svs, self, self._root)) - - - class Nav(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1()) - self.sv_id = self._io.read_u1() - self.cno = self._io.read_u1() - self.elev = self._io.read_s1() - self.azim = self._io.read_s2le() - self.pr_res = self._io.read_s2le() - self.flags = self._io.read_u4le() - - - - class NavPvt(KaitaiStruct): - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.i_tow = self._io.read_u4le() - self.year = self._io.read_u2le() - self.month = self._io.read_u1() - self.day = self._io.read_u1() - self.hour = self._io.read_u1() - self.min = self._io.read_u1() - self.sec = self._io.read_u1() - self.valid = self._io.read_u1() - self.t_acc = self._io.read_u4le() - self.nano = self._io.read_s4le() - self.fix_type = self._io.read_u1() - self.flags = self._io.read_u1() - self.flags2 = self._io.read_u1() - self.num_sv = self._io.read_u1() - self.lon = self._io.read_s4le() - self.lat = self._io.read_s4le() - self.height = self._io.read_s4le() - self.h_msl = self._io.read_s4le() - self.h_acc = self._io.read_u4le() - self.v_acc = self._io.read_u4le() - self.vel_n = self._io.read_s4le() - self.vel_e = self._io.read_s4le() - self.vel_d = self._io.read_s4le() - self.g_speed = self._io.read_s4le() - self.head_mot = self._io.read_s4le() - self.s_acc = self._io.read_s4le() - self.head_acc = self._io.read_u4le() - self.p_dop = self._io.read_u2le() - self.flags3 = self._io.read_u1() - self.reserved1 = self._io.read_bytes(5) - self.head_veh = self._io.read_s4le() - self.mag_dec = self._io.read_s2le() - self.mag_acc = self._io.read_u2le() - - - class MonHw2(KaitaiStruct): - - class ConfigSource(Enum): - flash = 102 - otp = 111 - config_pins = 112 - rom = 113 - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.ofs_i = self._io.read_s1() - self.mag_i = self._io.read_u1() - self.ofs_q = self._io.read_s1() - self.mag_q = self._io.read_u1() - self.cfg_source = KaitaiStream.resolve_enum(Ubx.MonHw2.ConfigSource, self._io.read_u1()) - self.reserved1 = self._io.read_bytes(3) - self.low_lev_cfg = self._io.read_u4le() - self.reserved2 = self._io.read_bytes(8) - self.post_status = self._io.read_u4le() - self.reserved3 = self._io.read_bytes(4) - - - class MonHw(KaitaiStruct): - - class AntennaStatus(Enum): - init = 0 - dontknow = 1 - ok = 2 - short = 3 - open = 4 - - class AntennaPower(Enum): - false = 0 - true = 1 - dontknow = 2 - def __init__(self, _io, _parent=None, _root=None): - self._io = _io - self._parent = _parent - self._root = _root if _root else self - self._read() - - def _read(self): - self.pin_sel = self._io.read_u4le() - self.pin_bank = self._io.read_u4le() - self.pin_dir = self._io.read_u4le() - self.pin_val = self._io.read_u4le() - self.noise_per_ms = self._io.read_u2le() - self.agc_cnt = self._io.read_u2le() - self.a_status = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaStatus, self._io.read_u1()) - self.a_power = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaPower, self._io.read_u1()) - self.flags = self._io.read_u1() - self.reserved1 = self._io.read_bytes(1) - self.used_mask = self._io.read_u4le() - self.vp = self._io.read_bytes(17) - self.jam_ind = self._io.read_u1() - self.reserved2 = self._io.read_bytes(2) - self.pin_irq = self._io.read_u4le() - self.pull_h = self._io.read_u4le() - self.pull_l = self._io.read_u4le() - - - @property - def checksum(self): - if hasattr(self, '_m_checksum'): - return self._m_checksum - - _pos = self._io.pos() - self._io.seek((self.length + 6)) - self._m_checksum = self._io.read_u2le() - self._io.seek(_pos) - return getattr(self, '_m_checksum', None) - - diff --git a/system/ubloxd/glonass.ksy b/system/ubloxd/glonass.ksy deleted file mode 100644 index be99f6e497..0000000000 --- a/system/ubloxd/glonass.ksy +++ /dev/null @@ -1,176 +0,0 @@ -# http://gauss.gge.unb.ca/GLONASS.ICD.pdf -# some variables are misprinted but good in the old doc -# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf -meta: - id: glonass - endian: be - bit-endian: be -seq: - - id: idle_chip - type: b1 - - id: string_number - type: b4 - - id: data - type: - switch-on: string_number - cases: - 1: string_1 - 2: string_2 - 3: string_3 - 4: string_4 - 5: string_5 - _: string_non_immediate - - id: hamming_code - type: b8 - - id: pad_1 - type: b11 - - id: superframe_number - type: b16 - - id: pad_2 - type: b8 - - id: frame_number - type: b8 - -types: - string_1: - seq: - - id: not_used - type: b2 - - id: p1 - type: b2 - - id: t_k - type: b12 - - id: x_vel_sign - type: b1 - - id: x_vel_value - type: b23 - - id: x_accel_sign - type: b1 - - id: x_accel_value - type: b4 - - id: x_sign - type: b1 - - id: x_value - type: b26 - instances: - x_vel: - value: 'x_vel_sign ? (x_vel_value * (-1)) : x_vel_value' - x_accel: - value: 'x_accel_sign ? (x_accel_value * (-1)) : x_accel_value' - x: - value: 'x_sign ? (x_value * (-1)) : x_value' - string_2: - seq: - - id: b_n - type: b3 - - id: p2 - type: b1 - - id: t_b - type: b7 - - id: not_used - type: b5 - - id: y_vel_sign - type: b1 - - id: y_vel_value - type: b23 - - id: y_accel_sign - type: b1 - - id: y_accel_value - type: b4 - - id: y_sign - type: b1 - - id: y_value - type: b26 - instances: - y_vel: - value: 'y_vel_sign ? (y_vel_value * (-1)) : y_vel_value' - y_accel: - value: 'y_accel_sign ? (y_accel_value * (-1)) : y_accel_value' - y: - value: 'y_sign ? (y_value * (-1)) : y_value' - string_3: - seq: - - id: p3 - type: b1 - - id: gamma_n_sign - type: b1 - - id: gamma_n_value - type: b10 - - id: not_used - type: b1 - - id: p - type: b2 - - id: l_n - type: b1 - - id: z_vel_sign - type: b1 - - id: z_vel_value - type: b23 - - id: z_accel_sign - type: b1 - - id: z_accel_value - type: b4 - - id: z_sign - type: b1 - - id: z_value - type: b26 - instances: - gamma_n: - value: 'gamma_n_sign ? (gamma_n_value * (-1)) : gamma_n_value' - z_vel: - value: 'z_vel_sign ? (z_vel_value * (-1)) : z_vel_value' - z_accel: - value: 'z_accel_sign ? (z_accel_value * (-1)) : z_accel_value' - z: - value: 'z_sign ? (z_value * (-1)) : z_value' - string_4: - seq: - - id: tau_n_sign - type: b1 - - id: tau_n_value - type: b21 - - id: delta_tau_n_sign - type: b1 - - id: delta_tau_n_value - type: b4 - - id: e_n - type: b5 - - id: not_used_1 - type: b14 - - id: p4 - type: b1 - - id: f_t - type: b4 - - id: not_used_2 - type: b3 - - id: n_t - type: b11 - - id: n - type: b5 - - id: m - type: b2 - instances: - tau_n: - value: 'tau_n_sign ? (tau_n_value * (-1)) : tau_n_value' - delta_tau_n: - value: 'delta_tau_n_sign ? (delta_tau_n_value * (-1)) : delta_tau_n_value' - string_5: - seq: - - id: n_a - type: b11 - - id: tau_c - type: b32 - - id: not_used - type: b1 - - id: n_4 - type: b5 - - id: tau_gps - type: b22 - - id: l_n - type: b1 - string_non_immediate: - seq: - - id: data_1 - type: b64 - - id: data_2 - type: b8 diff --git a/system/ubloxd/glonass.py b/system/ubloxd/glonass.py new file mode 100644 index 0000000000..144ccdde6e --- /dev/null +++ b/system/ubloxd/glonass.py @@ -0,0 +1,156 @@ +""" +Parses GLONASS navigation strings per GLONASS ICD specification. +http://gauss.gge.unb.ca/GLONASS.ICD.pdf +https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf +""" + +from typing import Annotated + +from openpilot.system.ubloxd import binary_struct as bs + + +class Glonass(bs.BinaryStruct): + class String1(bs.BinaryStruct): + not_used: Annotated[int, bs.bits(2)] + p1: Annotated[int, bs.bits(2)] + t_k: Annotated[int, bs.bits(12)] + x_vel_sign: Annotated[bool, bs.bits(1)] + x_vel_value: Annotated[int, bs.bits(23)] + x_accel_sign: Annotated[bool, bs.bits(1)] + x_accel_value: Annotated[int, bs.bits(4)] + x_sign: Annotated[bool, bs.bits(1)] + x_value: Annotated[int, bs.bits(26)] + + @property + def x_vel(self) -> int: + """Computed x_vel from sign-magnitude representation.""" + return (self.x_vel_value * -1) if self.x_vel_sign else self.x_vel_value + + @property + def x_accel(self) -> int: + """Computed x_accel from sign-magnitude representation.""" + return (self.x_accel_value * -1) if self.x_accel_sign else self.x_accel_value + + @property + def x(self) -> int: + """Computed x from sign-magnitude representation.""" + return (self.x_value * -1) if self.x_sign else self.x_value + + class String2(bs.BinaryStruct): + b_n: Annotated[int, bs.bits(3)] + p2: Annotated[bool, bs.bits(1)] + t_b: Annotated[int, bs.bits(7)] + not_used: Annotated[int, bs.bits(5)] + y_vel_sign: Annotated[bool, bs.bits(1)] + y_vel_value: Annotated[int, bs.bits(23)] + y_accel_sign: Annotated[bool, bs.bits(1)] + y_accel_value: Annotated[int, bs.bits(4)] + y_sign: Annotated[bool, bs.bits(1)] + y_value: Annotated[int, bs.bits(26)] + + @property + def y_vel(self) -> int: + """Computed y_vel from sign-magnitude representation.""" + return (self.y_vel_value * -1) if self.y_vel_sign else self.y_vel_value + + @property + def y_accel(self) -> int: + """Computed y_accel from sign-magnitude representation.""" + return (self.y_accel_value * -1) if self.y_accel_sign else self.y_accel_value + + @property + def y(self) -> int: + """Computed y from sign-magnitude representation.""" + return (self.y_value * -1) if self.y_sign else self.y_value + + class String3(bs.BinaryStruct): + p3: Annotated[bool, bs.bits(1)] + gamma_n_sign: Annotated[bool, bs.bits(1)] + gamma_n_value: Annotated[int, bs.bits(10)] + not_used: Annotated[bool, bs.bits(1)] + p: Annotated[int, bs.bits(2)] + l_n: Annotated[bool, bs.bits(1)] + z_vel_sign: Annotated[bool, bs.bits(1)] + z_vel_value: Annotated[int, bs.bits(23)] + z_accel_sign: Annotated[bool, bs.bits(1)] + z_accel_value: Annotated[int, bs.bits(4)] + z_sign: Annotated[bool, bs.bits(1)] + z_value: Annotated[int, bs.bits(26)] + + @property + def gamma_n(self) -> int: + """Computed gamma_n from sign-magnitude representation.""" + return (self.gamma_n_value * -1) if self.gamma_n_sign else self.gamma_n_value + + @property + def z_vel(self) -> int: + """Computed z_vel from sign-magnitude representation.""" + return (self.z_vel_value * -1) if self.z_vel_sign else self.z_vel_value + + @property + def z_accel(self) -> int: + """Computed z_accel from sign-magnitude representation.""" + return (self.z_accel_value * -1) if self.z_accel_sign else self.z_accel_value + + @property + def z(self) -> int: + """Computed z from sign-magnitude representation.""" + return (self.z_value * -1) if self.z_sign else self.z_value + + class String4(bs.BinaryStruct): + tau_n_sign: Annotated[bool, bs.bits(1)] + tau_n_value: Annotated[int, bs.bits(21)] + delta_tau_n_sign: Annotated[bool, bs.bits(1)] + delta_tau_n_value: Annotated[int, bs.bits(4)] + e_n: Annotated[int, bs.bits(5)] + not_used_1: Annotated[int, bs.bits(14)] + p4: Annotated[bool, bs.bits(1)] + f_t: Annotated[int, bs.bits(4)] + not_used_2: Annotated[int, bs.bits(3)] + n_t: Annotated[int, bs.bits(11)] + n: Annotated[int, bs.bits(5)] + m: Annotated[int, bs.bits(2)] + + @property + def tau_n(self) -> int: + """Computed tau_n from sign-magnitude representation.""" + return (self.tau_n_value * -1) if self.tau_n_sign else self.tau_n_value + + @property + def delta_tau_n(self) -> int: + """Computed delta_tau_n from sign-magnitude representation.""" + return (self.delta_tau_n_value * -1) if self.delta_tau_n_sign else self.delta_tau_n_value + + class String5(bs.BinaryStruct): + n_a: Annotated[int, bs.bits(11)] + tau_c: Annotated[int, bs.bits(32)] + not_used: Annotated[bool, bs.bits(1)] + n_4: Annotated[int, bs.bits(5)] + tau_gps: Annotated[int, bs.bits(22)] + l_n: Annotated[bool, bs.bits(1)] + + class StringNonImmediate(bs.BinaryStruct): + data_1: Annotated[int, bs.bits(64)] + data_2: Annotated[int, bs.bits(8)] + + idle_chip: Annotated[bool, bs.bits(1)] + string_number: Annotated[int, bs.bits(4)] + data: Annotated[ + object, + bs.switch( + 'string_number', + { + 1: String1, + 2: String2, + 3: String3, + 4: String4, + 5: String5, + }, + default=StringNonImmediate, + ), + ] + hamming_code: Annotated[int, bs.bits(8)] + pad_1: Annotated[int, bs.bits(11)] + superframe_number: Annotated[int, bs.bits(16)] + pad_2: Annotated[int, bs.bits(8)] + frame_number: Annotated[int, bs.bits(8)] diff --git a/system/ubloxd/gps.ksy b/system/ubloxd/gps.ksy deleted file mode 100644 index 893ad1b25b..0000000000 --- a/system/ubloxd/gps.ksy +++ /dev/null @@ -1,189 +0,0 @@ -# https://www.gps.gov/technical/icwg/IS-GPS-200E.pdf -meta: - id: gps - endian: be - bit-endian: be -seq: - - id: tlm - type: tlm - - id: how - type: how - - id: body - type: - switch-on: how.subframe_id - cases: - 1: subframe_1 - 2: subframe_2 - 3: subframe_3 - 4: subframe_4 -types: - tlm: - seq: - - id: preamble - contents: [0x8b] - - id: tlm - type: b14 - - id: integrity_status - type: b1 - - id: reserved - type: b1 - how: - seq: - - id: tow_count - type: b17 - - id: alert - type: b1 - - id: anti_spoof - type: b1 - - id: subframe_id - type: b3 - - id: reserved - type: b2 - subframe_1: - seq: - # Word 3 - - id: week_no - type: b10 - - id: code - type: b2 - - id: sv_accuracy - type: b4 - - id: sv_health - type: b6 - - id: iodc_msb - type: b2 - # Word 4 - - id: l2_p_data_flag - type: b1 - - id: reserved1 - type: b23 - # Word 5 - - id: reserved2 - type: b24 - # Word 6 - - id: reserved3 - type: b24 - # Word 7 - - id: reserved4 - type: b16 - - id: t_gd - type: s1 - # Word 8 - - id: iodc_lsb - type: u1 - - id: t_oc - type: u2 - # Word 9 - - id: af_2 - type: s1 - - id: af_1 - type: s2 - # Word 10 - - id: af_0_sign - type: b1 - - id: af_0_value - type: b21 - - id: reserved5 - type: b2 - instances: - af_0: - value: 'af_0_sign ? (af_0_value - (1 << 21)) : af_0_value' - subframe_2: - seq: - # Word 3 - - id: iode - type: u1 - - id: c_rs - type: s2 - # Word 4 & 5 - - id: delta_n - type: s2 - - id: m_0 - type: s4 - # Word 6 & 7 - - id: c_uc - type: s2 - - id: e - type: s4 - # Word 8 & 9 - - id: c_us - type: s2 - - id: sqrt_a - type: u4 - # Word 10 - - id: t_oe - type: u2 - - id: fit_interval_flag - type: b1 - - id: aoda - type: b5 - - id: reserved - type: b2 - subframe_3: - seq: - # Word 3 & 4 - - id: c_ic - type: s2 - - id: omega_0 - type: s4 - # Word 5 & 6 - - id: c_is - type: s2 - - id: i_0 - type: s4 - # Word 7 & 8 - - id: c_rc - type: s2 - - id: omega - type: s4 - # Word 9 - - id: omega_dot_sign - type: b1 - - id: omega_dot_value - type: b23 - # Word 10 - - id: iode - type: u1 - - id: idot_sign - type: b1 - - id: idot_value - type: b13 - - id: reserved - type: b2 - instances: - omega_dot: - value: 'omega_dot_sign ? (omega_dot_value - (1 << 23)) : omega_dot_value' - idot: - value: 'idot_sign ? (idot_value - (1 << 13)) : idot_value' - subframe_4: - seq: - # Word 3 - - id: data_id - type: b2 - - id: page_id - type: b6 - - id: body - type: - switch-on: page_id - cases: - 56: ionosphere_data - types: - ionosphere_data: - seq: - - id: a0 - type: s1 - - id: a1 - type: s1 - - id: a2 - type: s1 - - id: a3 - type: s1 - - id: b0 - type: s1 - - id: b1 - type: s1 - - id: b2 - type: s1 - - id: b3 - type: s1 - diff --git a/system/ubloxd/gps.py b/system/ubloxd/gps.py new file mode 100644 index 0000000000..1c0833bd92 --- /dev/null +++ b/system/ubloxd/gps.py @@ -0,0 +1,116 @@ +""" +Parses GPS navigation subframes per IS-GPS-200E specification. +https://www.gps.gov/technical/icwg/IS-GPS-200E.pdf +""" + +from typing import Annotated + +from openpilot.system.ubloxd import binary_struct as bs + + +class Gps(bs.BinaryStruct): + class Tlm(bs.BinaryStruct): + preamble: Annotated[bytes, bs.const(bs.bytes_field(1), b"\x8b")] + tlm: Annotated[int, bs.bits(14)] + integrity_status: Annotated[bool, bs.bits(1)] + reserved: Annotated[bool, bs.bits(1)] + + class How(bs.BinaryStruct): + tow_count: Annotated[int, bs.bits(17)] + alert: Annotated[bool, bs.bits(1)] + anti_spoof: Annotated[bool, bs.bits(1)] + subframe_id: Annotated[int, bs.bits(3)] + reserved: Annotated[int, bs.bits(2)] + + class Subframe1(bs.BinaryStruct): + week_no: Annotated[int, bs.bits(10)] + code: Annotated[int, bs.bits(2)] + sv_accuracy: Annotated[int, bs.bits(4)] + sv_health: Annotated[int, bs.bits(6)] + iodc_msb: Annotated[int, bs.bits(2)] + l2_p_data_flag: Annotated[bool, bs.bits(1)] + reserved1: Annotated[int, bs.bits(23)] + reserved2: Annotated[int, bs.bits(24)] + reserved3: Annotated[int, bs.bits(24)] + reserved4: Annotated[int, bs.bits(16)] + t_gd: Annotated[int, bs.s8] + iodc_lsb: Annotated[int, bs.u8] + t_oc: Annotated[int, bs.u16be] + af_2: Annotated[int, bs.s8] + af_1: Annotated[int, bs.s16be] + af_0_sign: Annotated[bool, bs.bits(1)] + af_0_value: Annotated[int, bs.bits(21)] + reserved5: Annotated[int, bs.bits(2)] + + @property + def af_0(self) -> int: + """Computed af_0 from sign-magnitude representation.""" + return (self.af_0_value - (1 << 21)) if self.af_0_sign else self.af_0_value + + class Subframe2(bs.BinaryStruct): + iode: Annotated[int, bs.u8] + c_rs: Annotated[int, bs.s16be] + delta_n: Annotated[int, bs.s16be] + m_0: Annotated[int, bs.s32be] + c_uc: Annotated[int, bs.s16be] + e: Annotated[int, bs.s32be] + c_us: Annotated[int, bs.s16be] + sqrt_a: Annotated[int, bs.u32be] + t_oe: Annotated[int, bs.u16be] + fit_interval_flag: Annotated[bool, bs.bits(1)] + aoda: Annotated[int, bs.bits(5)] + reserved: Annotated[int, bs.bits(2)] + + class Subframe3(bs.BinaryStruct): + c_ic: Annotated[int, bs.s16be] + omega_0: Annotated[int, bs.s32be] + c_is: Annotated[int, bs.s16be] + i_0: Annotated[int, bs.s32be] + c_rc: Annotated[int, bs.s16be] + omega: Annotated[int, bs.s32be] + omega_dot_sign: Annotated[bool, bs.bits(1)] + omega_dot_value: Annotated[int, bs.bits(23)] + iode: Annotated[int, bs.u8] + idot_sign: Annotated[bool, bs.bits(1)] + idot_value: Annotated[int, bs.bits(13)] + reserved: Annotated[int, bs.bits(2)] + + @property + def omega_dot(self) -> int: + """Computed omega_dot from sign-magnitude representation.""" + return (self.omega_dot_value - (1 << 23)) if self.omega_dot_sign else self.omega_dot_value + + @property + def idot(self) -> int: + """Computed idot from sign-magnitude representation.""" + return (self.idot_value - (1 << 13)) if self.idot_sign else self.idot_value + + class Subframe4(bs.BinaryStruct): + class IonosphereData(bs.BinaryStruct): + a0: Annotated[int, bs.s8] + a1: Annotated[int, bs.s8] + a2: Annotated[int, bs.s8] + a3: Annotated[int, bs.s8] + b0: Annotated[int, bs.s8] + b1: Annotated[int, bs.s8] + b2: Annotated[int, bs.s8] + b3: Annotated[int, bs.s8] + + data_id: Annotated[int, bs.bits(2)] + page_id: Annotated[int, bs.bits(6)] + body: Annotated[object, bs.switch('page_id', {56: IonosphereData})] + + tlm: Tlm + how: How + body: Annotated[ + object, + bs.switch( + 'how.subframe_id', + { + 1: Subframe1, + 2: Subframe2, + 3: Subframe3, + 4: Subframe4, + }, + ), + ] diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py index 6882ad0955..e55cadcf78 100755 --- a/system/ubloxd/ubloxd.py +++ b/system/ubloxd/ubloxd.py @@ -8,9 +8,9 @@ from dataclasses import dataclass from cereal import log from cereal import messaging -from openpilot.system.ubloxd.generated.ubx import Ubx -from openpilot.system.ubloxd.generated.gps import Gps -from openpilot.system.ubloxd.generated.glonass import Glonass +from openpilot.system.ubloxd.ubx import Ubx +from openpilot.system.ubloxd.gps import Gps +from openpilot.system.ubloxd.glonass import Glonass SECS_IN_MIN = 60 @@ -52,7 +52,7 @@ class UbxFramer: # find preamble if len(self.buf) < 2: break - start = self.buf.find(b"\xB5\x62") + start = self.buf.find(b"\xb5\x62") if start < 0: # no preamble in buffer self.buf.clear() @@ -98,9 +98,22 @@ class UbloxMsgParser: # user range accuracy in meters glonass_URA_lookup: dict[int, float] = { - 0: 1, 1: 2, 2: 2.5, 3: 4, 4: 5, 5: 7, - 6: 10, 7: 12, 8: 14, 9: 16, 10: 32, - 11: 64, 12: 128, 13: 256, 14: 512, 15: 1024, + 0: 1, + 1: 2, + 2: 2.5, + 3: 4, + 4: 5, + 5: 7, + 6: 10, + 7: 12, + 8: 14, + 9: 16, + 10: 32, + 11: 64, + 12: 128, + 13: 256, + 14: 512, + 15: 1024, } def __init__(self) -> None: @@ -121,7 +134,7 @@ class UbloxMsgParser: body = Ubx.NavPvt.from_bytes(payload) return self._gen_nav_pvt(body) if msg_type == 0x0213: - # Manually parse RXM-SFRBX to avoid Kaitai EOF on some frames + # Manually parse RXM-SFRBX to avoid EOF on some frames if len(payload) < 8: return None gnss_id = payload[0] @@ -134,7 +147,7 @@ class UbloxMsgParser: words: list[int] = [] off = 8 for _ in range(num_words): - words.append(int.from_bytes(payload[off:off+4], 'little')) + words.append(int.from_bytes(payload[off : off + 4], 'little')) off += 4 class _SfrbxView: @@ -143,6 +156,7 @@ class UbloxMsgParser: self.sv_id = sid self.freq_id = fid self.body = body + view = _SfrbxView(gnss_id, sv_id, freq_id, words) return self._gen_rxm_sfrbx(view) if msg_type == 0x0215: @@ -515,5 +529,6 @@ def main(): service, dat = res pm.send(service, dat) + if __name__ == '__main__': main() diff --git a/system/ubloxd/ubx.ksy b/system/ubloxd/ubx.ksy deleted file mode 100644 index 02c757fe71..0000000000 --- a/system/ubloxd/ubx.ksy +++ /dev/null @@ -1,293 +0,0 @@ -meta: - id: ubx - endian: le -seq: - - id: magic - contents: [0xb5, 0x62] - - id: msg_type - type: u2be - - id: length - type: u2 - - id: body - type: - switch-on: msg_type - cases: - 0x0107: nav_pvt - 0x0213: rxm_sfrbx - 0x0215: rxm_rawx - 0x0a09: mon_hw - 0x0a0b: mon_hw2 - 0x0135: nav_sat -instances: - checksum: - pos: length + 6 - type: u2 - -types: - mon_hw: - seq: - - id: pin_sel - type: u4 - - id: pin_bank - type: u4 - - id: pin_dir - type: u4 - - id: pin_val - type: u4 - - id: noise_per_ms - type: u2 - - id: agc_cnt - type: u2 - - id: a_status - type: u1 - enum: antenna_status - - id: a_power - type: u1 - enum: antenna_power - - id: flags - type: u1 - - id: reserved1 - size: 1 - - id: used_mask - type: u4 - - id: vp - size: 17 - - id: jam_ind - type: u1 - - id: reserved2 - size: 2 - - id: pin_irq - type: u4 - - id: pull_h - type: u4 - - id: pull_l - type: u4 - enums: - antenna_status: - 0: init - 1: dontknow - 2: ok - 3: short - 4: open - antenna_power: - 0: off - 1: on - 2: dontknow - - mon_hw2: - seq: - - id: ofs_i - type: s1 - - id: mag_i - type: u1 - - id: ofs_q - type: s1 - - id: mag_q - type: u1 - - id: cfg_source - type: u1 - enum: config_source - - id: reserved1 - size: 3 - - id: low_lev_cfg - type: u4 - - id: reserved2 - size: 8 - - id: post_status - type: u4 - - id: reserved3 - size: 4 - - enums: - config_source: - 113: rom - 111: otp - 112: config_pins - 102: flash - - rxm_sfrbx: - seq: - - id: gnss_id - type: u1 - enum: gnss_type - - id: sv_id - type: u1 - - id: reserved1 - size: 1 - - id: freq_id - type: u1 - - id: num_words - type: u1 - - id: reserved2 - size: 1 - - id: version - type: u1 - - id: reserved3 - size: 1 - - id: body - type: u4 - repeat: expr - repeat-expr: num_words - - rxm_rawx: - seq: - - id: rcv_tow - type: f8 - - id: week - type: u2 - - id: leap_s - type: s1 - - id: num_meas - type: u1 - - id: rec_stat - type: u1 - - id: reserved1 - size: 3 - - id: meas - type: measurement - size: 32 - repeat: expr - repeat-expr: num_meas - types: - measurement: - seq: - - id: pr_mes - type: f8 - - id: cp_mes - type: f8 - - id: do_mes - type: f4 - - id: gnss_id - type: u1 - enum: gnss_type - - id: sv_id - type: u1 - - id: reserved2 - size: 1 - - id: freq_id - type: u1 - - id: lock_time - type: u2 - - id: cno - type: u1 - - id: pr_stdev - type: u1 - - id: cp_stdev - type: u1 - - id: do_stdev - type: u1 - - id: trk_stat - type: u1 - - id: reserved3 - size: 1 - nav_sat: - seq: - - id: itow - type: u4 - - id: version - type: u1 - - id: num_svs - type: u1 - - id: reserved - size: 2 - - id: svs - type: nav - size: 12 - repeat: expr - repeat-expr: num_svs - types: - nav: - seq: - - id: gnss_id - type: u1 - enum: gnss_type - - id: sv_id - type: u1 - - id: cno - type: u1 - - id: elev - type: s1 - - id: azim - type: s2 - - id: pr_res - type: s2 - - id: flags - type: u4 - - nav_pvt: - seq: - - id: i_tow - type: u4 - - id: year - type: u2 - - id: month - type: u1 - - id: day - type: u1 - - id: hour - type: u1 - - id: min - type: u1 - - id: sec - type: u1 - - id: valid - type: u1 - - id: t_acc - type: u4 - - id: nano - type: s4 - - id: fix_type - type: u1 - - id: flags - type: u1 - - id: flags2 - type: u1 - - id: num_sv - type: u1 - - id: lon - type: s4 - - id: lat - type: s4 - - id: height - type: s4 - - id: h_msl - type: s4 - - id: h_acc - type: u4 - - id: v_acc - type: u4 - - id: vel_n - type: s4 - - id: vel_e - type: s4 - - id: vel_d - type: s4 - - id: g_speed - type: s4 - - id: head_mot - type: s4 - - id: s_acc - type: s4 - - id: head_acc - type: u4 - - id: p_dop - type: u2 - - id: flags3 - type: u1 - - id: reserved1 - size: 5 - - id: head_veh - type: s4 - - id: mag_dec - type: s2 - - id: mag_acc - type: u2 -enums: - gnss_type: - 0: gps - 1: sbas - 2: galileo - 3: beidou - 4: imes - 5: qzss - 6: glonass diff --git a/system/ubloxd/ubx.py b/system/ubloxd/ubx.py new file mode 100644 index 0000000000..857498ebf1 --- /dev/null +++ b/system/ubloxd/ubx.py @@ -0,0 +1,180 @@ +""" +UBX protocol parser +""" + +from enum import IntEnum +from typing import Annotated + +from openpilot.system.ubloxd import binary_struct as bs + + +class GnssType(IntEnum): + gps = 0 + sbas = 1 + galileo = 2 + beidou = 3 + imes = 4 + qzss = 5 + glonass = 6 + + +class Ubx(bs.BinaryStruct): + GnssType = GnssType + + class RxmRawx(bs.BinaryStruct): + class Measurement(bs.BinaryStruct): + pr_mes: Annotated[float, bs.f64] + cp_mes: Annotated[float, bs.f64] + do_mes: Annotated[float, bs.f32] + gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)] + sv_id: Annotated[int, bs.u8] + reserved2: Annotated[bytes, bs.bytes_field(1)] + freq_id: Annotated[int, bs.u8] + lock_time: Annotated[int, bs.u16] + cno: Annotated[int, bs.u8] + pr_stdev: Annotated[int, bs.u8] + cp_stdev: Annotated[int, bs.u8] + do_stdev: Annotated[int, bs.u8] + trk_stat: Annotated[int, bs.u8] + reserved3: Annotated[bytes, bs.bytes_field(1)] + + rcv_tow: Annotated[float, bs.f64] + week: Annotated[int, bs.u16] + leap_s: Annotated[int, bs.s8] + num_meas: Annotated[int, bs.u8] + rec_stat: Annotated[int, bs.u8] + reserved1: Annotated[bytes, bs.bytes_field(3)] + meas: Annotated[list[Measurement], bs.array(Measurement, count_field='num_meas')] + + class RxmSfrbx(bs.BinaryStruct): + gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)] + sv_id: Annotated[int, bs.u8] + reserved1: Annotated[bytes, bs.bytes_field(1)] + freq_id: Annotated[int, bs.u8] + num_words: Annotated[int, bs.u8] + reserved2: Annotated[bytes, bs.bytes_field(1)] + version: Annotated[int, bs.u8] + reserved3: Annotated[bytes, bs.bytes_field(1)] + body: Annotated[list[int], bs.array(bs.u32, count_field='num_words')] + + class NavSat(bs.BinaryStruct): + class Nav(bs.BinaryStruct): + gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)] + sv_id: Annotated[int, bs.u8] + cno: Annotated[int, bs.u8] + elev: Annotated[int, bs.s8] + azim: Annotated[int, bs.s16] + pr_res: Annotated[int, bs.s16] + flags: Annotated[int, bs.u32] + + itow: Annotated[int, bs.u32] + version: Annotated[int, bs.u8] + num_svs: Annotated[int, bs.u8] + reserved: Annotated[bytes, bs.bytes_field(2)] + svs: Annotated[list[Nav], bs.array(Nav, count_field='num_svs')] + + class NavPvt(bs.BinaryStruct): + i_tow: Annotated[int, bs.u32] + year: Annotated[int, bs.u16] + month: Annotated[int, bs.u8] + day: Annotated[int, bs.u8] + hour: Annotated[int, bs.u8] + min: Annotated[int, bs.u8] + sec: Annotated[int, bs.u8] + valid: Annotated[int, bs.u8] + t_acc: Annotated[int, bs.u32] + nano: Annotated[int, bs.s32] + fix_type: Annotated[int, bs.u8] + flags: Annotated[int, bs.u8] + flags2: Annotated[int, bs.u8] + num_sv: Annotated[int, bs.u8] + lon: Annotated[int, bs.s32] + lat: Annotated[int, bs.s32] + height: Annotated[int, bs.s32] + h_msl: Annotated[int, bs.s32] + h_acc: Annotated[int, bs.u32] + v_acc: Annotated[int, bs.u32] + vel_n: Annotated[int, bs.s32] + vel_e: Annotated[int, bs.s32] + vel_d: Annotated[int, bs.s32] + g_speed: Annotated[int, bs.s32] + head_mot: Annotated[int, bs.s32] + s_acc: Annotated[int, bs.s32] + head_acc: Annotated[int, bs.u32] + p_dop: Annotated[int, bs.u16] + flags3: Annotated[int, bs.u8] + reserved1: Annotated[bytes, bs.bytes_field(5)] + head_veh: Annotated[int, bs.s32] + mag_dec: Annotated[int, bs.s16] + mag_acc: Annotated[int, bs.u16] + + class MonHw2(bs.BinaryStruct): + class ConfigSource(IntEnum): + flash = 102 + otp = 111 + config_pins = 112 + rom = 113 + + ofs_i: Annotated[int, bs.s8] + mag_i: Annotated[int, bs.u8] + ofs_q: Annotated[int, bs.s8] + mag_q: Annotated[int, bs.u8] + cfg_source: Annotated[ConfigSource | int, bs.enum(bs.u8, ConfigSource)] + reserved1: Annotated[bytes, bs.bytes_field(3)] + low_lev_cfg: Annotated[int, bs.u32] + reserved2: Annotated[bytes, bs.bytes_field(8)] + post_status: Annotated[int, bs.u32] + reserved3: Annotated[bytes, bs.bytes_field(4)] + + class MonHw(bs.BinaryStruct): + class AntennaStatus(IntEnum): + init = 0 + dontknow = 1 + ok = 2 + short = 3 + open = 4 + + class AntennaPower(IntEnum): + false = 0 + true = 1 + dontknow = 2 + + pin_sel: Annotated[int, bs.u32] + pin_bank: Annotated[int, bs.u32] + pin_dir: Annotated[int, bs.u32] + pin_val: Annotated[int, bs.u32] + noise_per_ms: Annotated[int, bs.u16] + agc_cnt: Annotated[int, bs.u16] + a_status: Annotated[AntennaStatus | int, bs.enum(bs.u8, AntennaStatus)] + a_power: Annotated[AntennaPower | int, bs.enum(bs.u8, AntennaPower)] + flags: Annotated[int, bs.u8] + reserved1: Annotated[bytes, bs.bytes_field(1)] + used_mask: Annotated[int, bs.u32] + vp: Annotated[bytes, bs.bytes_field(17)] + jam_ind: Annotated[int, bs.u8] + reserved2: Annotated[bytes, bs.bytes_field(2)] + pin_irq: Annotated[int, bs.u32] + pull_h: Annotated[int, bs.u32] + pull_l: Annotated[int, bs.u32] + + magic: Annotated[bytes, bs.const(bs.bytes_field(2), b"\xb5\x62")] + msg_type: Annotated[int, bs.u16be] + length: Annotated[int, bs.u16] + body: Annotated[ + object, + bs.substream( + 'length', + bs.switch( + 'msg_type', + { + 0x0107: NavPvt, + 0x0213: RxmSfrbx, + 0x0215: RxmRawx, + 0x0A09: MonHw, + 0x0A0B: MonHw2, + 0x0135: NavSat, + }, + ), + ), + ] + checksum: Annotated[int, bs.u16] diff --git a/uv.lock b/uv.lock index 2c5f32ec7b..572305f08c 100644 --- a/uv.lock +++ b/uv.lock @@ -768,15 +768,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" }, ] -[[package]] -name = "kaitaistruct" -version = "0.11" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/27/b8/ca7319556912f68832daa4b81425314857ec08dfccd8dbc8c0f65c992108/kaitaistruct-0.11.tar.gz", hash = "sha256:053ee764288e78b8e53acf748e9733268acbd579b8d82a427b1805453625d74b", size = 11519, upload-time = "2025-09-08T15:46:25.037Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/4a/4a/cf14bf3b1f5ffb13c69cf5f0ea78031247790558ee88984a8bdd22fae60d/kaitaistruct-0.11-py2.py3-none-any.whl", hash = "sha256:5c6ce79177b4e193a577ecd359e26516d1d6d000a0bffd6e1010f2a46a62a561", size = 11372, upload-time = "2025-09-08T15:46:23.635Z" }, -] - [[package]] name = "kiwisolver" version = "1.4.9" @@ -1296,7 +1287,6 @@ dependencies = [ { name = "inputs" }, { name = "jeepney" }, { name = "json-rpc" }, - { name = "kaitaistruct" }, { name = "libusb1" }, { name = "mapbox-earcut" }, { name = "numpy" }, @@ -1384,7 +1374,6 @@ requires-dist = [ { name = "jeepney" }, { name = "jinja2", marker = "extra == 'docs'" }, { name = "json-rpc" }, - { name = "kaitaistruct" }, { name = "libusb1" }, { name = "mapbox-earcut" }, { name = "matplotlib", marker = "extra == 'dev'" }, From 831f2396d9a60eb8c73b7d0af4c4961353c73e51 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 2 Feb 2026 08:08:09 -0800 Subject: [PATCH 124/144] bump opendbc --- opendbc_repo | 2 +- pyproject.toml | 1 - uv.lock | 11 ----------- 3 files changed, 1 insertion(+), 13 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index e76c2cf5bb..7c78ee87b7 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit e76c2cf5bb0042bc5822efa78fff0362feed7b54 +Subproject commit 7c78ee87b7b54bb2179d86d5e28c1f65bbf96669 diff --git a/pyproject.toml b/pyproject.toml index 1be5c395f1..c80d23b8eb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -74,7 +74,6 @@ dependencies = [ [project.optional-dependencies] docs = [ "Jinja2", - "natsort", "mkdocs", ] diff --git a/uv.lock b/uv.lock index 572305f08c..054a67cc9a 100644 --- a/uv.lock +++ b/uv.lock @@ -1183,15 +1183,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/81/08/7036c080d7117f28a4af526d794aab6a84463126db031b007717c1a6676e/multidict-6.7.1-py3-none-any.whl", hash = "sha256:55d97cc6dae627efa6a6e548885712d4864b81110ac76fa4e534c03819fa4a56", size = 12319, upload-time = "2026-01-26T02:46:44.004Z" }, ] -[[package]] -name = "natsort" -version = "8.4.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/e2/a9/a0c57aee75f77794adaf35322f8b6404cbd0f89ad45c87197a937764b7d0/natsort-8.4.0.tar.gz", hash = "sha256:45312c4a0e5507593da193dedd04abb1469253b601ecaf63445ad80f0a1ea581", size = 76575, upload-time = "2023-06-20T04:17:19.925Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/ef/82/7a9d0550484a62c6da82858ee9419f3dd1ccc9aa1c26a1e43da3ecd20b0d/natsort-8.4.0-py3-none-any.whl", hash = "sha256:4732914fb471f56b5cce04d7bae6f164a592c7712e1c85f9ef585e197299521c", size = 38268, upload-time = "2023-06-20T04:17:17.522Z" }, -] - [[package]] name = "numpy" version = "2.4.1" @@ -1331,7 +1322,6 @@ dev = [ docs = [ { name = "jinja2" }, { name = "mkdocs" }, - { name = "natsort" }, ] testing = [ { name = "codespell" }, @@ -1379,7 +1369,6 @@ requires-dist = [ { name = "matplotlib", marker = "extra == 'dev'" }, { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" }, { name = "mkdocs", marker = "extra == 'docs'" }, - { name = "natsort", marker = "extra == 'docs'" }, { name = "numpy", specifier = ">=2.0" }, { name = "onnx", specifier = ">=1.14.0" }, { name = "opencv-python-headless", marker = "extra == 'dev'" }, From fd50941cff09b6710358aa9651c7dfeb94ffe79c Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Mon, 2 Feb 2026 09:13:49 -0700 Subject: [PATCH 125/144] chore: bump minimum Python version to 3.12.3 (#37052) --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index c80d23b8eb..2400364c70 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "openpilot" -requires-python = ">= 3.11, < 3.13" +requires-python = ">= 3.12.3, < 3.13" license = {text = "MIT License"} version = "0.1.0" description = "an open source driver assistance system" From a668bc9edad0223a79c797b8943fe8daaa95ade1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 2 Feb 2026 16:58:45 -0800 Subject: [PATCH 126/144] comma four setup improvements (#37066) * always check, no flickering from has inter -> waiting -> has inter from the reset * 1s interval. i see read timeouts at 0.5s sometimes * clean up * cursor * Revert "cursor" This reverts commit 13ec6312aa7f71b58771f8789456e97c4481856a. * clean up --- system/ui/mici_setup.py | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py index 2c6090b4ac..fac26f06ea 100755 --- a/system/ui/mici_setup.py +++ b/system/ui/mici_setup.py @@ -49,7 +49,7 @@ exec ./launch_openpilot.sh class NetworkConnectivityMonitor: - def __init__(self, should_check: Callable[[], bool] | None = None, check_interval: float = 0.5): + def __init__(self, should_check: Callable[[], bool] | None = None, check_interval: float = 1.0): self.network_connected = threading.Event() self.wifi_connected = threading.Event() self._should_check = should_check or (lambda: True) @@ -78,7 +78,7 @@ class NetworkConnectivityMonitor: if self._should_check(): try: request = urllib.request.Request(OPENPILOT_URL, method="HEAD") - urllib.request.urlopen(request, timeout=0.5) + urllib.request.urlopen(request, timeout=1.0) self.network_connected.set() if HARDWARE.get_network_type() == NetworkType.wifi: self.wifi_connected.set() @@ -528,9 +528,8 @@ class Setup(Widget): self.download_thread = None self._wifi_manager = WifiManager() self._wifi_manager.set_active(True) - self._network_monitor = NetworkConnectivityMonitor( - lambda: self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE) - ) + self._network_monitor = NetworkConnectivityMonitor() + self._network_monitor.start() self._prev_has_internet = False gui_app.set_modal_overlay_tick(self._modal_overlay_tick) @@ -569,10 +568,8 @@ class Setup(Widget): if self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE): self._network_setup_page.show_event() self._network_monitor.reset() - self._network_monitor.start() else: self._network_setup_page.hide_event() - self._network_monitor.stop() def _render(self, rect: rl.Rectangle): if self.state == SetupState.GETTING_STARTED: @@ -618,7 +615,6 @@ class Setup(Widget): self._set_state(SetupState.SOFTWARE_SELECTION) def _network_setup_continue_button_callback(self): - self._network_monitor.stop() if self.state == SetupState.NETWORK_SETUP: self.download(OPENPILOT_URL) elif self.state == SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE: @@ -628,10 +624,10 @@ class Setup(Widget): self._network_monitor.stop() def render_network_setup(self, rect: rl.Rectangle): - self._network_setup_page.render(rect) has_internet = self._network_monitor.network_connected.is_set() self._prev_has_internet = has_internet self._network_setup_page.set_has_internet(has_internet) + self._network_setup_page.render(rect) def render_downloading(self, rect: rl.Rectangle): self._downloading_page.set_progress(self.download_progress) From 8f970bcb99ac4e6e4e95be9a42fca2d4fa86de12 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 2 Feb 2026 22:13:37 -0500 Subject: [PATCH 127/144] Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" (#1581) (#1669) * Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" (#1581) This reverts commit 7560497f * bump --- opendbc_repo | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 35 +++++++++------------ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 17 insertions(+), 22 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index bbc6869d70..a653199681 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit bbc6869d70d99d70dffb73f737b36bce46f54cca +Subproject commit a653199681e95be113aea491bb7a6023c8b73eb1 diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 47d105f993..48d174bfa0 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -22,15 +22,17 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La # Additionally, there is friction in the steering wheel that needs # to be overcome to move it at all, this is compensated for too. -KP = 1.0 -KI = 0.3 -KD = 0.0 +KP = 0.8 +KI = 0.15 + INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30] KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP] LP_FILTER_CUTOFF_HZ = 1.2 +JERK_LOOKAHEAD_SECONDS = 0.19 +JERK_GAIN = 0.3 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0 -VERSION = 0 +VERSION = 1 class LatControlTorque(LatControl): def __init__(self, CP, CP_SP, CI, dt): @@ -38,13 +40,13 @@ class LatControlTorque(LatControl): self.torque_params = CP.lateralTuning.torque.as_builder() self.torque_from_lateral_accel = CI.torque_from_lateral_accel() self.lateral_accel_from_torque = CI.lateral_accel_from_torque() - self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt) + self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt) self.update_limits() self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt) self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len) - self.previous_measurement = 0.0 - self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt) + self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt) + self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt) self.extension = LatControlTorqueExt(self, CP, CP_SP, CI) @@ -76,17 +78,15 @@ class LatControlTorque(LatControl): delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len)) expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames] - # TODO factor out lateral jerk from error to later replace it with delay independent alternative + lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2)) + raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt) + desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk) future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2 self.lat_accel_request_buffer.append(future_desired_lateral_accel) gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation - desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay + setpoint = expected_lateral_accel measurement = measured_curvature * CS.vEgo ** 2 - measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt) - self.previous_measurement = measurement - - setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel error = setpoint - measurement # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly @@ -94,15 +94,10 @@ class LatControlTorque(LatControl): ff = gravity_adjusted_future_lateral_accel # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll ff -= self.torque_params.latAccelOffset - # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it - ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) + ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 - output_lataccel = self.pid.update(pid_log.error, - -measurement_rate, - feedforward=ff, - speed=CS.vEgo, - freeze_integrator=freeze_integrator) + output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator) output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params) # Lateral acceleration torque controller extension updates diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c109bf49f1..4a58e321fc 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b259f6f8f099a9d82e4c65dd5deae2e4e293007b \ No newline at end of file +e0ad86508edb61b3eaa1b84662c515d2c3368295 \ No newline at end of file From 85b9f8962e8330283f3ec59a025ee97328dc29ae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 2 Feb 2026 22:32:52 -0800 Subject: [PATCH 128/144] Clean up four keyboard text rects (#37068) * start clean up * rm * not really needed * more * clean up --- selfdrive/ui/mici/widgets/dialog.py | 43 ++++++++++++----------------- 1 file changed, 17 insertions(+), 26 deletions(-) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 67123d33a7..b23abe6080 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -132,6 +132,7 @@ class BigConfirmationDialogV2(BigDialogBase): class BigInputDialog(BigDialogBase): BACK_TOUCH_AREA_PERCENTAGE = 0.2 BACKSPACE_RATE = 25 # hz + TEXT_INPUT_SIZE = 35 def __init__(self, hint: str, @@ -179,53 +180,44 @@ class BigInputDialog(BigDialogBase): self._backspace_held_time = None def _render(self, _): - text_input_size = 35 - # draw current text so far below everything. text floats left but always stays in view text = self._keyboard.text() candidate_char = self._keyboard.get_candidate_character() - text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, text_input_size) - text_x = PADDING * 2 + self._enter_img.width + text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, self.TEXT_INPUT_SIZE) - # text needs to move left if we're at the end where right button is - text_rect = rl.Rectangle(text_x, - int(self._rect.y + PADDING), - # clip width to right button when in view - int(self._rect.width - text_x - PADDING * 2 - self._enter_img.width + 5), # TODO: why 5? - int(text_size.y)) - - # draw rounded background for text input bg_block_margin = 5 - text_field_rect = rl.Rectangle(text_rect.x - bg_block_margin, text_rect.y - bg_block_margin, - text_rect.width + bg_block_margin * 2, text_input_size + bg_block_margin * 2) + text_x = PADDING * 2 + self._enter_img.width + bg_block_margin + text_field_rect = rl.Rectangle(text_x, int(self._rect.y + PADDING) - bg_block_margin, + int(self._rect.width - text_x - PADDING * 2 - self._enter_img.width) - bg_block_margin * 2, + int(text_size.y)) # draw text input # push text left with a gradient on left side if too long - if text_size.x > text_rect.width: - text_x -= text_size.x - text_rect.width + if text_size.x > text_field_rect.width: + text_x -= text_size.x - text_field_rect.width - rl.begin_scissor_mode(int(text_rect.x), int(text_rect.y), int(text_rect.width), int(text_rect.height)) - rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), text, rl.Vector2(text_x, text_rect.y), text_input_size, 0, rl.WHITE) + rl.begin_scissor_mode(int(text_field_rect.x), int(text_field_rect.y), int(text_field_rect.width), int(text_field_rect.height)) + rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), text, rl.Vector2(text_x, text_field_rect.y), self.TEXT_INPUT_SIZE, 0, rl.WHITE) # draw grayed out character user is hovering over if candidate_char: - candidate_char_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), candidate_char, text_input_size) + candidate_char_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), candidate_char, self.TEXT_INPUT_SIZE) rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), candidate_char, - rl.Vector2(min(text_x + text_size.x, text_rect.x + text_rect.width) - candidate_char_size.x, text_rect.y), - text_input_size, 0, rl.Color(255, 255, 255, 128)) + rl.Vector2(min(text_x + text_size.x, text_field_rect.x + text_field_rect.width) - candidate_char_size.x, text_field_rect.y), + self.TEXT_INPUT_SIZE, 0, rl.Color(255, 255, 255, 128)) rl.end_scissor_mode() # draw gradient on left side to indicate more text - if text_size.x > text_rect.width: - rl.draw_rectangle_gradient_h(int(text_rect.x), int(text_rect.y), 80, int(text_rect.height), + if text_size.x > text_field_rect.width: + rl.draw_rectangle_gradient_h(int(text_field_rect.x), int(text_field_rect.y), 80, int(text_field_rect.height), rl.BLACK, rl.BLANK) # draw cursor if text: blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2 - cursor_x = min(text_x + text_size.x + 3, text_rect.x + text_rect.width) - rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_rect.y), 4, int(text_size.y)), + cursor_x = min(text_x + text_size.x + 3, text_field_rect.x + text_field_rect.width) + rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_field_rect.y), 4, int(text_size.y)), 1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha))) # draw backspace icon with nice fade @@ -255,7 +247,6 @@ class BigInputDialog(BigDialogBase): # draw debugging rect bounds if DEBUG: rl.draw_rectangle_lines_ex(text_field_rect, 1, rl.Color(100, 100, 100, 255)) - rl.draw_rectangle_lines_ex(text_rect, 1, rl.Color(0, 255, 0, 255)) rl.draw_rectangle_lines_ex(self._top_right_button_rect, 1, rl.Color(0, 255, 0, 255)) rl.draw_rectangle_lines_ex(self._top_left_button_rect, 1, rl.Color(0, 255, 0, 255)) From aac90dd11b449996307b863e1ef0564cfdc771fe Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 3 Feb 2026 13:59:45 -0800 Subject: [PATCH 129/144] Bump tg (#37069) bump tg --- tinygrad_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tinygrad_repo b/tinygrad_repo index 774a454bb5..2f55005ad9 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 774a454bb5e6d0fe3756a8add9302c0a3d592bd9 +Subproject commit 2f55005ad93c777cca69b20dddc28c7f02f0eb01 From 54cf8d6a5ecb59714c4ac8991e53fa85269b31a1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 Feb 2026 15:55:05 -0800 Subject: [PATCH 130/144] four keyboard: fix keys lagging behind parent widget (#37073) * fix keys lagging behind * use parent rect * use parent rect * cmt --- system/ui/widgets/mici_keyboard.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py index 7fc3847809..6d2e08e053 100644 --- a/system/ui/widgets/mici_keyboard.py +++ b/system/ui/widgets/mici_keyboard.py @@ -53,20 +53,23 @@ class Key(Widget): self.original_position = rl.Vector2(0, 0) def set_position(self, x: float, y: float, smooth: bool = True): - # TODO: swipe up from NavWidget has the keys lag behind other elements a bit + # Smooth keys within parent rect + base_y = self._parent_rect.y if self._parent_rect else 0.0 + local_y = y - base_y + if not self._position_initialized: self._x_filter.x = x - self._y_filter.x = y + self._y_filter.x = local_y # keep track of original position so dragging around feels consistent. also move touch area down a bit self.original_position = rl.Vector2(x, y + KEY_TOUCH_AREA_OFFSET) self._position_initialized = True if not smooth: self._x_filter.x = x - self._y_filter.x = y + self._y_filter.x = local_y self._rect.x = self._x_filter.update(x) - self._rect.y = self._y_filter.update(y) + self._rect.y = base_y + self._y_filter.update(local_y) def set_alpha(self, alpha: float): self._alpha_filter.update(alpha) @@ -367,6 +370,7 @@ class MiciKeyboard(Widget): key.set_font_size(font_size) # TODO: I like the push amount, so we should clip the pos inside the keyboard rect + key.set_parent_rect(self._rect) key.set_position(key_x, key_y) def _render(self, _): From ee7601ae9db36708281fa42c35b5c9e31b74a888 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 3 Feb 2026 15:55:13 -0800 Subject: [PATCH 131/144] long planner: Min(stopping) is also important (#37074) Min(stopping) is also important --- selfdrive/controls/lib/longitudinal_planner.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index ad84ecf24f..c5c03eba18 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -152,10 +152,11 @@ class LongitudinalPlanner: output_a_target_e2e = sm['modelV2'].action.desiredAcceleration output_should_stop_e2e = sm['modelV2'].action.shouldStop - if (output_a_target_e2e < output_a_target_mpc) and sm['selfdriveState'].experimentalMode: - output_a_target = output_a_target_e2e - self.output_should_stop = output_should_stop_e2e - self.mpc.source = SOURCES[3] + if sm['selfdriveState'].experimentalMode: + output_a_target = min(output_a_target_e2e, output_a_target_mpc) + self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc + if output_a_target < output_a_target_mpc: + self.mpc.source = SOURCES[3] else: output_a_target = output_a_target_mpc self.output_should_stop = output_should_stop_mpc From 5b6436a90cf6902b8aaa71c2b6f3d7164d8ae391 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 3 Feb 2026 19:14:02 -0800 Subject: [PATCH 132/144] CD210 model (#37050) a27b3122-733e-4a65-938b-acfebebbe5e8/100 --- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 92c81954d2..611ae9fe85 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1edea5bb56f876db4cec97c150799513f6a59373f3ad152d55e4dcaab1b809e3 -size 13926324 +oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15 +size 14060847 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 76c96670a9..6c9fc4c84d 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1dc66bc06f250b577653ccbeaa2c6521b3d46749f601d0a1a366419e929ca438 -size 46271942 +oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66 +size 46877473 From f309be90383da69768774162424a1a2dfbb4dfba Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 4 Feb 2026 00:15:08 -0500 Subject: [PATCH 133/144] DEC: refactor mode conditions with Experimental Mode --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- .../selfdrive/controls/lib/longitudinal_planner.py | 12 ++++-------- 2 files changed, 5 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index f5bdd37103..cabaa55290 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -160,7 +160,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP): output_a_target_e2e = sm['modelV2'].action.desiredAcceleration output_should_stop_e2e = sm['modelV2'].action.shouldStop - if sm['selfdriveState'].experimentalMode: + if self.is_e2e(sm): output_a_target = min(output_a_target_e2e, output_a_target_mpc) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc if output_a_target < output_a_target_mpc: diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py index 68b50c3e19..6efda4585f 100644 --- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py @@ -36,16 +36,12 @@ class LongitudinalPlannerSP: self.output_v_target = 0. self.output_a_target = 0. - @property - def mlsim(self) -> bool: - # If we don't have a generation set, we assume it's default model. Which as of today are mlsim. - return bool(self.generation is None or self.generation >= 11) - - def get_mpc_mode(self) -> str | None: + def is_e2e(self, sm: messaging.SubMaster) -> bool: + experimental_mode = sm['selfdriveState'].experimentalMode if not self.dec.active(): - return None + return experimental_mode - return self.dec.mode() + return experimental_mode and self.dec.mode() == "blended" def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]: CS = sm['carState'] From 4d65c52e6d16ac1604d5d21d6f8e691391046bd2 Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Thu, 5 Feb 2026 05:35:57 -0800 Subject: [PATCH 134/144] modeld_v2: refactor abstract class to support off-policy models (#1672) * modeld_v2: refactor abstract class to support off-policy models. * whoops * bump --- cereal/custom.capnp | 1 + release/ci/model_generator.py | 4 ++- sunnypilot/modeld_v2/SConscript | 4 +-- sunnypilot/modeld_v2/install_models_pc.py | 2 +- sunnypilot/models/fetcher.py | 2 +- .../models/runners/tinygrad/model_types.py | 16 ++++++++++ .../runners/tinygrad/tinygrad_runner.py | 32 +++++++++++++++---- 7 files changed, 50 insertions(+), 11 deletions(-) diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 5c0a004fa6..53986262ec 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -153,6 +153,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d { navigation @1; vision @2; policy @3; + offPolicy @4; } } diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py index ee41343be8..96352254b6 100755 --- a/release/ci/model_generator.py +++ b/release/ci/model_generator.py @@ -68,8 +68,10 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str): metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl") # Build the metadata structure + model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1] + model_metadata = { - "type": base.split("_")[-1] if "dmonitoring" not in base else "dmonitoring", + "type": model_type, "artifact": { "file_name": tinygrad_file.name, "download_uri": { diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript index 48b9c75ef5..94033846b0 100644 --- a/sunnypilot/modeld_v2/SConscript +++ b/sunnypilot/modeld_v2/SConscript @@ -39,7 +39,7 @@ if PC: model_dir = Dir("models").abspath cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}' - for model_name in ['supercombo', 'driving_vision', 'driving_policy']: + for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']: if File(f"models/{model_name}.onnx").exists(): inputs.append(File(f"models/{model_name}.onnx")) inputs.append(File(f"models/{model_name}_tinygrad.pkl")) @@ -57,7 +57,7 @@ def tg_compile(flags, model_name): ) # Compile small models -for model_name in ['supercombo', 'driving_vision', 'driving_policy']: +for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']: if File(f"models/{model_name}.onnx").exists(): flags = { 'larch64': 'DEV=QCOM', diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/sunnypilot/modeld_v2/install_models_pc.py index 3f964dc285..a378d90b11 100755 --- a/sunnypilot/modeld_v2/install_models_pc.py +++ b/sunnypilot/modeld_v2/install_models_pc.py @@ -44,7 +44,7 @@ def generate_metadata_pkl(model_path, output_path): def install_models(model_dir): model_dir = Path(model_dir) - models = ["driving_policy", "driving_vision"] + models = ["driving_off_policy", "driving_policy", "driving_vision"] found_models = [] for model in models: diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py index a917d6cbb8..1d8da083a9 100644 --- a/sunnypilot/models/fetcher.py +++ b/sunnypilot/models/fetcher.py @@ -116,7 +116,7 @@ class ModelCache: class ModelFetcher: """Handles fetching and caching of model data from remote source""" - MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v10.json" + MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v11.json" def __init__(self, params: Params): self.params = params diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/sunnypilot/models/runners/tinygrad/model_types.py index ba388aed93..11f0965828 100644 --- a/sunnypilot/models/runners/tinygrad/model_types.py +++ b/sunnypilot/models/runners/tinygrad/model_types.py @@ -13,6 +13,22 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') CUSTOM_MODEL_PATH = Paths.model_root() +class OffPolicyTinygrad(ModularRunner, ABC): + """ + A TinygradRunner specialized for off-policy models. + + Uses a SplitParser to handle outputs specific to the off-policy part of a split model setup. + """ + def __init__(self): + self._off_policy_parser = SplitParser() + self.parser_method_dict[ModelType.offPolicy] = self._parse_off_policy_outputs + + def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict: + """Parses off-policy model outputs using SplitParser.""" + result: NumpyDict = self._off_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs)) + return result + + class PolicyTinygrad(ModularRunner, ABC): """ A TinygradRunner specialized for policy-only models. diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py index 2800179fb2..7b48e3086b 100644 --- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py +++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py @@ -4,7 +4,7 @@ import numpy as np from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address from openpilot.sunnypilot.models.runners.constants import CLMemDict, FrameDict, NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict from openpilot.sunnypilot.models.runners.model_runner import ModelRunner -from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad +from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad from openpilot.system.hardware import TICI from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants from openpilot.sunnypilot.modeld_v2.constants import ModelConstants @@ -12,7 +12,7 @@ from openpilot.sunnypilot.modeld_v2.constants import ModelConstants from tinygrad.tensor import Tensor -class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad): +class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad): """ A ModelRunner implementation for executing Tinygrad models. @@ -27,6 +27,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny SupercomboTinygrad.__init__(self) PolicyTinygrad.__init__(self) VisionTinygrad.__init__(self) + OffPolicyTinygrad.__init__(self) self._constants = ModelConstants self._model_data = self.models.get(model_type) if not self._model_data or not self._model_data.model: @@ -106,13 +107,20 @@ class TinygradSplitRunner(ModelRunner): self.is_20hz_3d = True self.vision_runner = TinygradRunner(ModelType.vision) self.policy_runner = TinygradRunner(ModelType.policy) + self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None self._constants = SplitModelConstants def _run_model(self) -> NumpyDict: """Runs both vision and policy models and merges their parsed outputs.""" policy_output = self.policy_runner.run_model() vision_output = self.vision_runner.run_model() - return {**policy_output, **vision_output} # Combine results + outputs = {**policy_output, **vision_output} + + if self.off_policy_runner: + off_policy_output = self.off_policy_runner.run_model() + outputs.update(off_policy_output) + + return outputs @property def vision_input_names(self) -> list[str]: @@ -122,12 +130,18 @@ class TinygradSplitRunner(ModelRunner): @property def input_shapes(self) -> ShapeDict: """Returns the combined input shapes from both vision and policy models.""" - return {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes} + shapes = {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes} + if self.off_policy_runner: + shapes.update(self.off_policy_runner.input_shapes) + return shapes @property def output_slices(self) -> SliceDict: """Returns the combined output slices from both vision and policy models.""" - return {**self.policy_runner.output_slices, **self.vision_runner.output_slices} + slices = {**self.policy_runner.output_slices, **self.vision_runner.output_slices} + if self.off_policy_runner: + slices.update(self.off_policy_runner.output_slices) + return slices def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict: """Prepares inputs for both vision and policy models.""" @@ -135,5 +149,11 @@ class TinygradSplitRunner(ModelRunner): self.policy_runner.prepare_policy_inputs(numpy_inputs) # Vision inputs depend on imgs_cl and frames self.vision_runner.prepare_vision_inputs(imgs_cl, frames) + inputs = {**self.policy_runner.inputs, **self.vision_runner.inputs} + + if self.off_policy_runner: + self.off_policy_runner.prepare_policy_inputs(numpy_inputs) + inputs.update(self.off_policy_runner.inputs) + # Return combined inputs (though they are stored within respective runners) - return {**self.policy_runner.inputs, **self.vision_runner.inputs} + return inputs From c908189e73af3b3d15f1c1945d8b05dae035fd42 Mon Sep 17 00:00:00 2001 From: royjr Date: Sun, 8 Feb 2026 00:32:12 -0500 Subject: [PATCH 135/144] ui: use correct signals while using PID with Developer UI (#1674) * only if angleState * pidState element --- .../onroad/developer_ui/__init__.py | 7 ++++-- .../onroad/developer_ui/elements.py | 25 +++++++++++++++++++ 2 files changed, 30 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py index 441a169d23..f74f1f4c30 100644 --- a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py +++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py @@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import ( UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement, DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement, AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement, - SteeringTorqueEpsElement, BearingDegElement, AltitudeElement + SteeringTorqueEpsElement, BearingDegElement, AltitudeElement, DesiredSteeringPIDElement ) from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.text_measure import measure_text_cached @@ -36,6 +36,7 @@ class DeveloperUiRenderer(Widget): self.desired_lat_accel_elem = DesiredLateralAccelElement() self.actual_lat_accel_elem = ActualLateralAccelElement() self.desired_steer_elem = DesiredSteeringAngleElement() + self.desired_pid_steer_elem = DesiredSteeringPIDElement() self.a_ego_elem = AEgoElement() self.lead_speed_elem = LeadSpeedElement() self.friction_elem = FrictionCoefficientElement() @@ -85,8 +86,10 @@ class DeveloperUiRenderer(Widget): ] if controls_state.lateralControlState.which() == 'torqueState': elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric)) - else: + elif controls_state.lateralControlState.which() == 'angleState': elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric)) + elif controls_state.lateralControlState.which() == 'pidState': + elements.append(self.desired_pid_steer_elem.update(sm, ui_state.is_metric)) elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric)) diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py index 652469bddd..94e3af42eb 100644 --- a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py +++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py @@ -191,6 +191,31 @@ class DesiredLateralAccelElement(LateralControlElement): return UiElement(value, "DESIRED L.A.", self.unit, color) +class DesiredSteeringPIDElement(LateralControlElement): + def __init__(self): + self.unit = "" + + def update(self, sm, is_metric: bool) -> UiElement: + car_state = sm['carState'] + controls_state = sm['controlsState'] + lat_active = sm['carControl'].latActive + angle_steers = car_state.steeringAngleDeg + steer_angle_desired = controls_state.lateralControlState.pidState.steeringAngleDesiredDeg + + value = f"{steer_angle_desired:.1f}°" if lat_active else "-" + + color = rl.WHITE + if lat_active: + if abs(angle_steers) > 180: + color = rl.RED + elif abs(angle_steers) > 90: + color = rl.Color(255, 188, 0, 255) + else: + color = rl.Color(0, 255, 0, 255) + + return UiElement(value, "DESIRED STEER", self.unit, color) + + class AEgoElement: def __init__(self): self.unit = "m/s^2" From 81bd8aa0e262ed2a5cfb024d1214d0a34231c352 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Sun, 8 Feb 2026 01:03:16 -0500 Subject: [PATCH 136/144] [bot] Update Python packages (#1662) * Update Python packages * bump --------- Co-authored-by: github-actions[bot] Co-authored-by: Jason Wen --- docs/CARS.md | 11 +---------- opendbc_repo | 2 +- 2 files changed, 2 insertions(+), 11 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a1f50e41d0..ab1eabeb13 100644 --- a/docs/CARS.md +++ b/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. -# 344 Supported Cars +# 335 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -23,10 +23,7 @@ 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[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| -|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| -|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| -|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 harness box
- 1 mount
Buy Here
||| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -91,7 +88,6 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|Civic Hybrid 2025-26|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector + Honda Clarity Proxy Board
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -122,7 +118,6 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -140,9 +135,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| -|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| -|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| @@ -166,13 +159,11 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
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||| |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 1abdb9872f..ff2f9686c2 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 1abdb9872f22c361322ac9e29d376c35233ba890 +Subproject commit ff2f9686c208824a72b30d4cc540a6ab78c5983e From 35c87a151972c88f8251f8d877be615ced253334 Mon Sep 17 00:00:00 2001 From: royjr Date: Sun, 8 Feb 2026 17:00:37 -0500 Subject: [PATCH 137/144] [TIZI/TICI] ui: steering arc (#1628) * init * lint * add toggle * Update params_keys.h * Update params_metadata.json * Update params_keys.h * bool * decouple * no * make it perfect * fade it * only with torque bar * dynamic * in another PR --------- Co-authored-by: Jason Wen --- common/params_keys.h | 1 + selfdrive/ui/mici/onroad/torque_bar.py | 16 ++++++++------- selfdrive/ui/onroad/augmented_road_view.py | 8 +++++--- .../sunnypilot/onroad/augmented_road_view.py | 20 ++++++++++++++++++- .../ui/sunnypilot/onroad/hud_renderer.py | 9 +++++++++ selfdrive/ui/sunnypilot/ui_state.py | 1 + sunnypilot/sunnylink/params_metadata.json | 4 ++++ 7 files changed, 48 insertions(+), 11 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index ecc656cc78..44584c9113 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -115,6 +115,7 @@ inline static std::unordered_map keys = { {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}}, {"SshEnabled", {PERSISTENT | BACKUP, BOOL}}, {"TermsVersion", {PERSISTENT, STRING}}, + {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}}, {"TrainingVersion", {PERSISTENT, STRING}}, {"UbloxAvailable", {PERSISTENT, BOOL}}, {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}}, diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py index c8485a3101..c1de694633 100644 --- a/selfdrive/ui/mici/onroad/torque_bar.py +++ b/selfdrive/ui/mici/onroad/torque_bar.py @@ -146,9 +146,11 @@ def arc_bar_pts(cx: float, cy: float, class TorqueBar(Widget): - def __init__(self, demo: bool = False): + def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False): super().__init__() self._demo = demo + self._scale = scale + self._always = always self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps) self._torque_line_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) @@ -180,8 +182,8 @@ class TorqueBar(Widget): def _render(self, rect: rl.Rectangle) -> None: # adjust y pos with torque - torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22, 26]) - torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14, 56]) + torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22 * self._scale, 26 * self._scale]) + torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14 * self._scale, 56 * self._scale]) # animate alpha and angle span if not self._demo: @@ -195,7 +197,7 @@ class TorqueBar(Widget): torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x)) # draw curved line polygon torque bar - torque_line_radius = 1200 + torque_line_radius = 1200 * self._scale top_angle = -90 torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN torque_start_angle = top_angle - torque_bg_angle_span / 2 @@ -207,13 +209,13 @@ class TorqueBar(Widget): cy = rect.y + rect.height + torque_line_radius - torque_line_offset # draw bg torque indicator line - bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle) + bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale) draw_polygon(rect, bg_pts, color=torque_line_bg_color) # draw torque indicator line a0s = top_angle a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x - sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s) + sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale) # draw beautiful gradient from center to 65% of the bg torque bar width start_grad_pt = cx / rect.width @@ -252,5 +254,5 @@ class TorqueBar(Widget): # draw center torque bar dot if abs(self._torque_filter.x) < 0.5: dot_y = self._rect.y + self._rect.height - torque_line_offset - torque_line_height / 2 - rl.draw_circle(int(cx), int(dot_y), 10 // 2, + rl.draw_circle(int(cx), int(dot_y), (10 // 2 * self._scale), rl.Color(182, 182, 182, int(255 * 0.9 * self._torque_line_alpha_filter.x))) diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index bcbcb2dcfb..76e7b078d1 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -15,7 +15,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera from openpilot.common.transformations.orientation import rot_from_euler if gui_app.sunnypilot_ui(): - from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP + from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP, AugmentedRoadViewSP from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus @@ -38,9 +38,10 @@ ROAD_CAM_MIN_SPEED = 15.0 # m/s (34 mph) INF_POINT = np.array([1000.0, 0.0, 0.0]) -class AugmentedRoadView(CameraView): +class AugmentedRoadView(CameraView, AugmentedRoadViewSP): def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD): - super().__init__("camerad", stream_type) + CameraView.__init__(self, "camerad", stream_type) + AugmentedRoadViewSP.__init__(self) self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED]) self.device_camera: DeviceCameraConfig | None = None @@ -92,6 +93,7 @@ class AugmentedRoadView(CameraView): # Draw all UI overlays self.model_renderer.render(self._content_rect) + AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect) self._hud_renderer.render(self._content_rect) self.alert_renderer.render(self._content_rect) self.driver_state_renderer.render(self._content_rect) diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py index 0a5739cc00..c7dedee540 100644 --- a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py +++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py @@ -5,9 +5,27 @@ This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ import pyray as rl -from openpilot.selfdrive.ui.ui_state import UIStatus +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.selfdrive.ui.ui_state import UIStatus, ui_state +from openpilot.system.ui.lib.application import gui_app BORDER_COLORS_SP = { UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF), # Cyan for lateral-only state UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF), # Purple for longitudinal-only state } + + +class AugmentedRoadViewSP: + def __init__(self): + self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png") + self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps) + + def update_fade_out_bottom_overlay(self, _content_rect): + # Fade out bottom of overlays for looks (only when engaged) + fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED) + if ui_state.torque_bar and fade_alpha > 1e-2: + # Scale the fade texture to the content rect + rl.draw_texture_pro(self._fade_texture, + rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height), + _content_rect, rl.Vector2(0, 0), 0.0, + rl.Color(255, 255, 255, int(255 * fade_alpha))) diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 8ca7269802..74e15fe0bd 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details. """ import pyray as rl +from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer @@ -23,6 +24,7 @@ class HudRendererSP(HudRenderer): self.rocket_fuel = RocketFuel() self.speed_limit_renderer = SpeedLimitRenderer() self.turn_signal_controller = TurnSignalController() + self._torque_bar = TorqueBar(scale=3.0, always=True) def _update_state(self) -> None: super()._update_state() @@ -32,6 +34,13 @@ class HudRendererSP(HudRenderer): def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) + + if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState': + torque_rect = rect + if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH): + torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - DeveloperUiRenderer.BOTTOM_BAR_HEIGHT) + self._torque_bar.render(torque_rect) + self.developer_ui.render(rect) self.road_name_renderer.render(rect) self.speed_limit_renderer.render(rect) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index f38280d498..98ddbe5266 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -125,6 +125,7 @@ class UIStateSP: self.rocket_fuel = self.params.get_bool("RocketFuel") self.rainbow_path = self.params.get_bool("RainbowMode") self.chevron_metrics = self.params.get("ChevronInfo") + self.torque_bar = self.params.get_bool("TorqueBar") self.active_bundle = self.params.get("ModelManager_ActiveBundle") self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True) diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index 7f597a9621..090beb49f0 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -1239,6 +1239,10 @@ "title": "Tesla Coop Steering", "description": "" }, + "TorqueBar": { + "title": "Steering Arc", + "description": "[TIZI/TICI only] Display steering arc on the driving screen when lateral control is enabled." + }, "TorqueParamsOverrideEnabled": { "title": "Manual Real-Time Tuning", "description": "" From c274dba36ed91f82eb1ad8cddafe9de2ea09c0c7 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 8 Feb 2026 18:28:36 -0500 Subject: [PATCH 138/144] [TIZI/TICI] ui: Smart Cruise Control elements (#1675) * init * punch * lower * colors --- .../ui/sunnypilot/onroad/hud_renderer.py | 4 + .../sunnypilot/onroad/smart_cruise_control.py | 131 ++++++++++++++++++ 2 files changed, 135 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 74e15fe0bd..d6f9278d22 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -13,6 +13,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRen from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController @@ -23,6 +24,7 @@ class HudRendererSP(HudRenderer): self.road_name_renderer = RoadNameRenderer() self.rocket_fuel = RocketFuel() self.speed_limit_renderer = SpeedLimitRenderer() + self.smart_cruise_control_renderer = SmartCruiseControlRenderer() self.turn_signal_controller = TurnSignalController() self._torque_bar = TorqueBar(scale=3.0, always=True) @@ -30,6 +32,7 @@ class HudRendererSP(HudRenderer): super()._update_state() self.road_name_renderer.update() self.speed_limit_renderer.update() + self.smart_cruise_control_renderer.update() self.turn_signal_controller.update() def _render(self, rect: rl.Rectangle) -> None: @@ -44,6 +47,7 @@ class HudRendererSP(HudRenderer): self.developer_ui.render(rect) self.road_name_renderer.render(rect) self.speed_limit_renderer.render(rect) + self.smart_cruise_control_renderer.render(rect) self.turn_signal_controller.render(rect) if ui_state.rocket_fuel: diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py new file mode 100644 index 0000000000..ca71fcac4a --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py @@ -0,0 +1,131 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.selfdrive.ui.onroad.hud_renderer import COLORS +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.widgets import Widget + + +class SmartCruiseControlRenderer(Widget): + def __init__(self): + super().__init__() + self.vision_enabled = False + self.vision_active = False + self.vision_frame = 0 + self.map_enabled = False + self.map_active = False + self.map_frame = 0 + self.long_override = False + + self.font = gui_app.font(FontWeight.BOLD) + self.scc_tex = rl.load_render_texture(256, 128) + + def update(self): + sm = ui_state.sm + if sm.updated["longitudinalPlanSP"]: + lp_sp = sm["longitudinalPlanSP"] + vision = lp_sp.smartCruiseControl.vision + map_ = lp_sp.smartCruiseControl.map + + self.vision_enabled = vision.enabled + self.vision_active = vision.active + self.map_enabled = map_.enabled + self.map_active = map_.active + + if sm.updated["carControl"]: + self.long_override = sm["carControl"].cruiseControl.override + + if self.vision_active: + self.vision_frame += 1 + else: + self.vision_frame = 0 + + if self.map_active: + self.map_frame += 1 + else: + self.map_frame = 0 + + @staticmethod + def _pulse_element(frame): + return not (frame % gui_app.target_fps < (gui_app.target_fps / 2.5)) + + def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name): + text = name + font_size = 36 + padding_v = 5 + box_width = 160 + + sz = measure_text_cached(self.font, text, font_size) + box_height = int(sz.y + padding_v * 2) + + texture_width = 256 + texture_height = 128 + + rl.begin_texture_mode(self.scc_tex) + rl.clear_background(rl.Color(0, 0, 0, 0)) + + if self.long_override: + box_color = COLORS.OVERRIDE + else: + box_color = rl.Color(0, 255, 0, 255) + + # Center box in texture + box_x = (texture_width - box_width) // 2 + box_y = (texture_height - box_height) // 2 + + rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color) + + # Draw text with custom blend mode to punch hole + rl.rl_set_blend_factors(rl.RL_ZERO, rl.RL_ONE_MINUS_SRC_ALPHA, 0x8006) + rl.rl_set_blend_mode(rl.BLEND_CUSTOM) + + text_pos_x = box_x + (box_width - sz.x) / 2 + text_pos_y = box_y + (box_height - sz.y) / 2 + + rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.WHITE) + + rl.rl_set_blend_mode(rl.BLEND_ALPHA) # Reset + rl.end_texture_mode() + + screen_y = rect_height / 4 + y_offset + + dest_x = rect_center_x + x_offset - texture_width / 2 + dest_y = screen_y - texture_height / 2 + + src_rect = rl.Rectangle(0, 0, texture_width, -texture_height) + dst_rect = rl.Rectangle(dest_x, dest_y, texture_width, texture_height) + + rl.draw_texture_pro(self.scc_tex.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0, rl.WHITE) + + def _render(self, rect: rl.Rectangle): + x_offset = -260 + y1_offset = -40 + y2_offset = -100 + + orders = [y1_offset, y2_offset] + y_scc_v = 0 + y_scc_m = 0 + idx = 0 + + if self.vision_enabled: + y_scc_v = orders[idx] + idx += 1 + + if self.map_enabled: + y_scc_m = orders[idx] + idx += 1 + + scc_vision_pulse = self._pulse_element(self.vision_frame) + if (self.vision_enabled and not self.vision_active) or (self.vision_active and scc_vision_pulse): + self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V") + + scc_map_pulse = self._pulse_element(self.map_frame) + if (self.map_enabled and not self.map_active) or (self.map_active and scc_map_pulse): + self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M") From 020f503364c3a4380de23175aace486f04d88828 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 8 Feb 2026 19:14:19 -0500 Subject: [PATCH 139/144] [TIZI/TICI] ui: Green Light and Lead Departure elements (#1676) * init * big for now * only adjust for right dev ui for now * final * final final --- selfdrive/ui/sunnypilot/onroad/e2e_alerts.py | 101 ++++++++++++++++++ .../ui/sunnypilot/onroad/hud_renderer.py | 4 + 2 files changed, 105 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/e2e_alerts.py diff --git a/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py b/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py new file mode 100644 index 0000000000..b15db94c16 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py @@ -0,0 +1,101 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from cereal import log +from openpilot.selfdrive.ui import UI_BORDER_SIZE +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer +from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE +from openpilot.system.ui.lib.text_measure import measure_text_cached + + +class E2eAlertsRenderer: + def __init__(self): + self._green_light_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/green_light.png", 250, 250) + self._lead_depart_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/lead_depart.png", 250, 250) + + self._e2e_alert_display_timer = 0 + self._e2e_alert_frame = 0 + self._green_light_alert = False + self._lead_depart_alert = False + self._alert_text = "" + self._alert_img = None + self._allow_e2e_alerts = False + + def update(self) -> None: + sm = ui_state.sm + lp_sp = sm['longitudinalPlanSP'] + self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert + self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert + + self._allow_e2e_alerts = sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none and \ + sm.recv_frame['driverStateV2'] > ui_state.started_frame + + if self._green_light_alert or self._lead_depart_alert: + self._e2e_alert_display_timer = 3 * gui_app.target_fps + + if self._e2e_alert_display_timer > 0: + self._e2e_alert_frame += 1 + self._e2e_alert_display_timer -= 1 + + if self._green_light_alert: + self._alert_text = "GREEN\nLIGHT" + self._alert_img = self._green_light_alert_img + elif self._lead_depart_alert: + self._alert_text = "LEAD VEHICLE\nDEPARTING" + self._alert_img = self._lead_depart_alert_img + else: + self._e2e_alert_frame = 0 + + def render(self, rect: rl.Rectangle) -> None: + if not self._allow_e2e_alerts or self._e2e_alert_display_timer <= 0: + return + + e2e_alert_size = 250 + dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_RIGHT, DeveloperUiRenderer.DEV_UI_BOTH) else 100 + + x = rect.x + rect.width - e2e_alert_size - dev_ui_width_adjustment - (UI_BORDER_SIZE * 3) + y = rect.y + rect.height / 2 + 20 + + alert_rect = rl.Rectangle(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2) + center = rl.Vector2(alert_rect.x + alert_rect.width / 2, alert_rect.y + alert_rect.height / 2) + + # Pulse logic + is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5) + frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75) + + # Draw Circle + rl.draw_circle_v(center, e2e_alert_size, rl.Color(0, 0, 0, 190)) + # Draw Ring (Border) + rl.draw_ring(center, e2e_alert_size - 7.5, e2e_alert_size + 7.5, 0, 360, 0, frame_color) + + # Draw Image + if self._alert_img: + img_x = int(center.x - self._alert_img.width / 2) + img_y = int(center.y - self._alert_img.height / 2) + rl.draw_texture(self._alert_img, img_x, img_y, rl.WHITE) + + # Draw Text + txt_color = rl.Color(255, 255, 255, 255) if is_pulsing else rl.Color(0, 255, 0, 190) + font = gui_app.font(FontWeight.BOLD) + text_size = 48 + spacing = 0 + + lines = self._alert_text.split('\n') + + # Position text at bottom of alert circle + bottom_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 7) + + # Draw lines upwards from bottom + current_y = bottom_y - (len(lines) * text_size * FONT_SCALE) + + for line in lines: + measure = measure_text_cached(font, line, text_size, spacing) + line_x = center.x - measure.x / 2 + rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color) + current_y += text_size * FONT_SCALE diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index d6f9278d22..d99e3cb0d1 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -15,6 +15,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController +from openpilot.selfdrive.ui.sunnypilot.onroad.e2e_alerts import E2eAlertsRenderer class HudRendererSP(HudRenderer): @@ -26,6 +27,7 @@ class HudRendererSP(HudRenderer): self.speed_limit_renderer = SpeedLimitRenderer() self.smart_cruise_control_renderer = SmartCruiseControlRenderer() self.turn_signal_controller = TurnSignalController() + self.e2e_alerts_renderer = E2eAlertsRenderer() self._torque_bar = TorqueBar(scale=3.0, always=True) def _update_state(self) -> None: @@ -34,6 +36,7 @@ class HudRendererSP(HudRenderer): self.speed_limit_renderer.update() self.smart_cruise_control_renderer.update() self.turn_signal_controller.update() + self.e2e_alerts_renderer.update() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) @@ -49,6 +52,7 @@ class HudRendererSP(HudRenderer): self.speed_limit_renderer.render(rect) self.smart_cruise_control_renderer.render(rect) self.turn_signal_controller.render(rect) + self.e2e_alerts_renderer.render(rect) if ui_state.rocket_fuel: self.rocket_fuel.render(rect, ui_state.sm) From a9229e11a067ef75c64565f4065b58f6bb38e404 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 8 Feb 2026 19:40:04 -0500 Subject: [PATCH 140/144] [TIZI/TICI] ui: standstill timer (#1677) * standstill timer * final --- .../{e2e_alerts.py => circular_alerts.py} | 59 ++++++++++++++++--- .../ui/sunnypilot/onroad/hud_renderer.py | 8 +-- selfdrive/ui/sunnypilot/ui_state.py | 1 + 3 files changed, 55 insertions(+), 13 deletions(-) rename selfdrive/ui/sunnypilot/onroad/{e2e_alerts.py => circular_alerts.py} (59%) diff --git a/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py similarity index 59% rename from selfdrive/ui/sunnypilot/onroad/e2e_alerts.py rename to selfdrive/ui/sunnypilot/onroad/circular_alerts.py index b15db94c16..965ce7fe77 100644 --- a/selfdrive/ui/sunnypilot/onroad/e2e_alerts.py +++ b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py @@ -14,7 +14,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE from openpilot.system.ui.lib.text_measure import measure_text_cached -class E2eAlertsRenderer: +class CircularAlertsRenderer: def __init__(self): self._green_light_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/green_light.png", 250, 250) self._lead_depart_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/lead_depart.png", 250, 250) @@ -23,6 +23,9 @@ class E2eAlertsRenderer: self._e2e_alert_frame = 0 self._green_light_alert = False self._lead_depart_alert = False + self._standstill_timer = False + self._standstill_elapsed_time = 0.0 + self._is_standstill = False self._alert_text = "" self._alert_img = None self._allow_e2e_alerts = False @@ -30,14 +33,22 @@ class E2eAlertsRenderer: def update(self) -> None: sm = ui_state.sm lp_sp = sm['longitudinalPlanSP'] + car_state = sm['carState'] self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert + self._standstill_timer = ui_state.standstill_timer + self._is_standstill = car_state.standstill + + if not ui_state.started: + self._standstill_elapsed_time = 0.0 self._allow_e2e_alerts = sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none and \ sm.recv_frame['driverStateV2'] > ui_state.started_frame if self._green_light_alert or self._lead_depart_alert: self._e2e_alert_display_timer = 3 * gui_app.target_fps + # reset onroad sleep timer for e2e alerts + ui_state.reset_onroad_sleep_timer() if self._e2e_alert_display_timer > 0: self._e2e_alert_frame += 1 @@ -49,11 +60,22 @@ class E2eAlertsRenderer: elif self._lead_depart_alert: self._alert_text = "LEAD VEHICLE\nDEPARTING" self._alert_img = self._lead_depart_alert_img + + elif self._standstill_timer and self._is_standstill: + self._alert_img = None + self._standstill_elapsed_time += 1.0 / gui_app.target_fps + minute = int(self._standstill_elapsed_time / 60) + second = int(self._standstill_elapsed_time - (minute * 60)) + self._alert_text = f"{minute:01d}:{second:02d}" + self._e2e_alert_frame += 1 + else: self._e2e_alert_frame = 0 + if not self._is_standstill: + self._standstill_elapsed_time = 0.0 def render(self, rect: rl.Rectangle) -> None: - if not self._allow_e2e_alerts or self._e2e_alert_display_timer <= 0: + if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (self._standstill_timer and self._is_standstill)): return e2e_alert_size = 250 @@ -67,7 +89,12 @@ class E2eAlertsRenderer: # Pulse logic is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5) - frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75) + + # Standstill Timer (STOPPED) should be static white + if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill: + frame_color = rl.Color(255, 255, 255, 75) + else: + frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75) # Draw Circle rl.draw_circle_v(center, e2e_alert_size, rl.Color(0, 0, 0, 190)) @@ -75,7 +102,7 @@ class E2eAlertsRenderer: rl.draw_ring(center, e2e_alert_size - 7.5, e2e_alert_size + 7.5, 0, 360, 0, frame_color) # Draw Image - if self._alert_img: + if self._alert_img and self._e2e_alert_display_timer > 0: img_x = int(center.x - self._alert_img.width / 2) img_y = int(center.y - self._alert_img.height / 2) rl.draw_texture(self._alert_img, img_x, img_y, rl.WHITE) @@ -94,8 +121,22 @@ class E2eAlertsRenderer: # Draw lines upwards from bottom current_y = bottom_y - (len(lines) * text_size * FONT_SCALE) - for line in lines: - measure = measure_text_cached(font, line, text_size, spacing) - line_x = center.x - measure.x / 2 - rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color) - current_y += text_size * FONT_SCALE + if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill: + # Standstill Timer Text + alert_alt_text = "STOPPED" + top_text_size = 80 + measure_top = measure_text_cached(font, alert_alt_text, top_text_size, spacing) + top_y = alert_rect.y + alert_rect.height / 3.5 + rl.draw_text_ex(font, alert_alt_text, rl.Vector2(center.x - measure_top.x / 2, top_y), top_text_size, spacing, rl.Color(255, 175, 3, 240)) + + # Timer + timer_text_size = 100 + measure_timer = measure_text_cached(font, self._alert_text, timer_text_size, spacing) + timer_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 5) - measure_timer.y + rl.draw_text_ex(font, self._alert_text, rl.Vector2(center.x - measure_timer.x / 2, timer_y), timer_text_size, spacing, rl.WHITE) + else: + for line in lines: + measure = measure_text_cached(font, line, text_size, spacing) + line_x = center.x - measure.x / 2 + rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color) + current_y += text_size * FONT_SCALE diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index d99e3cb0d1..f765936d6e 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -15,7 +15,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController -from openpilot.selfdrive.ui.sunnypilot.onroad.e2e_alerts import E2eAlertsRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.circular_alerts import CircularAlertsRenderer class HudRendererSP(HudRenderer): @@ -27,7 +27,7 @@ class HudRendererSP(HudRenderer): self.speed_limit_renderer = SpeedLimitRenderer() self.smart_cruise_control_renderer = SmartCruiseControlRenderer() self.turn_signal_controller = TurnSignalController() - self.e2e_alerts_renderer = E2eAlertsRenderer() + self.circular_alerts_renderer = CircularAlertsRenderer() self._torque_bar = TorqueBar(scale=3.0, always=True) def _update_state(self) -> None: @@ -36,7 +36,7 @@ class HudRendererSP(HudRenderer): self.speed_limit_renderer.update() self.smart_cruise_control_renderer.update() self.turn_signal_controller.update() - self.e2e_alerts_renderer.update() + self.circular_alerts_renderer.update() def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) @@ -52,7 +52,7 @@ class HudRendererSP(HudRenderer): self.speed_limit_renderer.render(rect) self.smart_cruise_control_renderer.render(rect) self.turn_signal_controller.render(rect) - self.e2e_alerts_renderer.render(rect) + self.circular_alerts_renderer.render(rect) if ui_state.rocket_fuel: self.rocket_fuel.render(rect, ui_state.sm) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 98ddbe5266..89a650bae9 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -129,6 +129,7 @@ class UIStateSP: self.active_bundle = self.params.get("ModelManager_ActiveBundle") self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True) + self.standstill_timer = self.params.get_bool("StandstillTimer") # Onroad Screen Brightness self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True))) From 96b58024abcb25eed9d2e0a7a1917cd2fadaeff9 Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Sun, 8 Feb 2026 16:54:33 -0800 Subject: [PATCH 141/144] [MICI] ui: driving models selector (#1574) * ui: models mici * Update models.py * Update models.py * sync --------- Co-authored-by: Jason Wen --- .../ui/sunnypilot/mici/layouts/models.py | 122 ++++++++++++++++++ .../ui/sunnypilot/mici/layouts/settings.py | 8 ++ 2 files changed, 130 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/mici/layouts/models.py diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/selfdrive/ui/sunnypilot/mici/layouts/models.py new file mode 100644 index 0000000000..d5964ea964 --- /dev/null +++ b/selfdrive/ui/sunnypilot/mici/layouts/models.py @@ -0,0 +1,122 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from collections.abc import Callable + +from cereal import custom +from openpilot.selfdrive.ui.mici.widgets.button import BigButton +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.widgets import NavWidget, Widget +from openpilot.system.ui.widgets.scroller import Scroller + + +class ModelsLayoutMici(NavWidget): + def __init__(self, back_callback: Callable): + super().__init__() + self.set_back_callback(back_callback) + self.original_back_callback = back_callback + self.focused_widget = None + + self.current_model_btn = BigButton(tr("current model"), "", "") + self.current_model_btn.set_click_callback(self._show_folders) + + self.cancel_download_btn = BigButton(tr("cancel download"), "", "") + self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex")) + + self.main_items: list[Widget] = [self.current_model_btn, self.cancel_download_btn] + self._scroller = Scroller(self.main_items, snap_items=False) + + @property + def model_manager(self): + return ui_state.sm["modelManagerSP"] + + def _get_grouped_bundles(self): + bundles = self.model_manager.availableBundles + folders = {} + for bundle in bundles: + folder = next((override.value for override in bundle.overrides if override.key == "folder"), "") + folders.setdefault(folder, []).append(bundle) + return folders + + def _show_selection_view(self, items: list[Widget], back_callback: Callable): + self._scroller._items = items + for item in items: + item.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid() and self._scroller.enabled) + self._scroller.scroll_panel.set_offset(0) + self.set_back_callback(back_callback) + + def _show_folders(self): + self.focused_widget = self.current_model_btn + folders = self._get_grouped_bundles() + folder_buttons = [] + default_btn = BigButton(tr("default model"), "", "") + default_btn.set_click_callback(self._select_default) + folder_buttons.append(default_btn) + + for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True): + if folder.lower() in ["release models", "master models"]: + btn = BigButton(folder.lower(), "", "") + btn.set_click_callback(lambda f=folder: self._select_folder(f)) + folder_buttons.append(btn) + self._show_selection_view(folder_buttons, self._reset_main_view) + + def _select_model(self, bundle): + ui_state.params.put("ModelManager_DownloadIndex", bundle.index) + self._reset_main_view() + + def _select_default(self): + ui_state.params.remove("ModelManager_ActiveBundle") + self._reset_main_view() + + def _select_folder(self, folder_name): + folders = self._get_grouped_bundles() + bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True) + + btns = [] + for bundle in bundles: + txt = bundle.displayName.lower() + btn = BigButton(txt, "", "") + btn.set_click_callback(lambda b=bundle: self._select_model(b)) + btns.append(btn) + self._show_selection_view(btns, self._show_folders) + + def _reset_main_view(self): + self._scroller._items = self.main_items + self.set_back_callback(self.original_back_callback) + if self.focused_widget and self.focused_widget in self.main_items: + x = self._scroller._pad_start + for item in self.main_items: + if not item.is_visible: + continue + if item == self.focused_widget: + break + x += item.rect.width + self._scroller._spacing + self._scroller.scroll_panel.set_offset(0) + self._scroller.scroll_to(x) + self.focused_widget = None + else: + self._scroller.scroll_panel.set_offset(0) + + def _update_state(self): + super()._update_state() + + manager = self.model_manager + if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading: + self.current_model_btn.set_value("downloading...") + self.cancel_download_btn.set_visible(True) + else: + self.current_model_btn.set_value(manager.activeBundle.internalName.lower() if manager.activeBundle else tr("default model")) + self.cancel_download_btn.set_visible(False) + self.current_model_btn.set_enabled(ui_state.is_offroad()) + self.current_model_btn.set_text(tr("current model")) + + def _render(self, rect): + self._scroller.render(rect) + + def show_event(self): + super().show_event() + self._scroller.show_event() diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py index f6fae6630c..69982e2298 100644 --- a/selfdrive/ui/sunnypilot/mici/layouts/settings.py +++ b/selfdrive/ui/sunnypilot/mici/layouts/settings.py @@ -9,6 +9,7 @@ from enum import IntEnum from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP from openpilot.selfdrive.ui.mici.widgets.button import BigButton from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici +from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici ICON_SIZE = 70 @@ -16,6 +17,7 @@ OP.PanelType = IntEnum( "PanelType", [es.name for es in OP.PanelType] + [ "SUNNYLINK", + "MODELS", ], start=0, ) @@ -27,13 +29,19 @@ class SettingsLayoutSP(OP.SettingsLayout): sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png") sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK)) + + models_btn = BigButton("models", "", "../../sunnypilot/selfdrive/assets/offroad/icon_models.png") + models_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.MODELS)) + self._panels.update({ OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))), + OP.PanelType.MODELS: OP.PanelInfo("models", ModelsLayoutMici(back_callback=lambda: self._set_current_panel(None))), }) items = self._scroller._items.copy() items.insert(1, sunnylink_btn) + items.insert(2, models_btn) self._scroller._items.clear() for item in items: self._scroller.add_widget(item) From 254f55ac15a40343d7255f2f098de3442e0c4a6f Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 8 Feb 2026 20:42:23 -0500 Subject: [PATCH 142/144] [TIZI/TICI] ui: Hide vEgo and True vEgo (#1678) --- .../ui/sunnypilot/onroad/hud_renderer.py | 6 +++ .../ui/sunnypilot/onroad/speed_renderer.py | 46 +++++++++++++++++++ selfdrive/ui/sunnypilot/ui_state.py | 2 + 3 files changed, 54 insertions(+) create mode 100644 selfdrive/ui/sunnypilot/onroad/speed_renderer.py diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index f765936d6e..3b810d62e9 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -16,6 +16,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRende from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController from openpilot.selfdrive.ui.sunnypilot.onroad.circular_alerts import CircularAlertsRenderer +from openpilot.selfdrive.ui.sunnypilot.onroad.speed_renderer import SpeedRenderer class HudRendererSP(HudRenderer): @@ -28,6 +29,7 @@ class HudRendererSP(HudRenderer): self.smart_cruise_control_renderer = SmartCruiseControlRenderer() self.turn_signal_controller = TurnSignalController() self.circular_alerts_renderer = CircularAlertsRenderer() + self.speed_renderer = SpeedRenderer() self._torque_bar = TorqueBar(scale=3.0, always=True) def _update_state(self) -> None: @@ -37,6 +39,10 @@ class HudRendererSP(HudRenderer): self.smart_cruise_control_renderer.update() self.turn_signal_controller.update() self.circular_alerts_renderer.update() + self.speed_renderer.update() + + def _draw_current_speed(self, rect: rl.Rectangle) -> None: + self.speed_renderer.render(rect) def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) diff --git a/selfdrive/ui/sunnypilot/onroad/speed_renderer.py b/selfdrive/ui/sunnypilot/onroad/speed_renderer.py new file mode 100644 index 0000000000..0a017876e1 --- /dev/null +++ b/selfdrive/ui/sunnypilot/onroad/speed_renderer.py @@ -0,0 +1,46 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +import pyray as rl + +from openpilot.common.constants import CV +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.multilang import tr +from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.selfdrive.ui.onroad.hud_renderer import FONT_SIZES, COLORS + + +class SpeedRenderer: + def __init__(self): + self.speed: float = 0.0 + self.v_ego_cluster_seen: bool = False + + self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD) + self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM) + + def update(self) -> None: + car_state = ui_state.sm['carState'] + v_ego_cluster = car_state.vEgoCluster + self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0 + v_ego = v_ego_cluster if self.v_ego_cluster_seen and not ui_state.true_v_ego_ui else car_state.vEgo + speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH + self.speed = max(0.0, v_ego * speed_conversion) + + def render(self, rect: rl.Rectangle) -> None: + if ui_state.hide_v_ego_ui: + return + + # Draw current speed and unit + speed_text = str(round(self.speed)) + speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed) + speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2) + rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE) + + unit_text = tr("km/h") if ui_state.is_metric else tr("mph") + unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit) + unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2) + rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 89a650bae9..6d7eab51cd 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -130,6 +130,8 @@ class UIStateSP: self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True) self.standstill_timer = self.params.get_bool("StandstillTimer") + self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI") + self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI") # Onroad Screen Brightness self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True))) From 981494a35433e4edbef7b38ea6676a9cdafe121b Mon Sep 17 00:00:00 2001 From: Nayan Date: Mon, 9 Feb 2026 00:17:34 -0500 Subject: [PATCH 143/144] [TIZI/TICI] ui: Visuals panel (#1496) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * commaai/openpilot:d05cb31e2e916fba41ba8167030945f427fd811b * bump opendbc * bump opendbc * bump opendbc * bump opendbc * bump opendbc * sunnypilot: remove Qt * cabana: revert to stock Qt * commaai/openpilot:5198b1b079c37742c1050f02ce0aa6dd42b038b9 * commaai/openpilot:954b567b9ba0f3d1ae57d6aa7797fa86dd92ec6e * commaai/openpilot:7534b2a160faa683412c04c1254440e338931c5e * sum more * bump opendbc * not yet * should've been symlink'ed * raylib says wut * quiet mode back * more fixes * no more * too extra red diff on the side * need to bring this back * too extra * let's update docs here * Revert "let's update docs here" This reverts commit 51fe03cd5121e6fdf14657b2c33852c34922b851. * param to control stock vs sp ui * init styles * SP Toggles * Lint * optimizations * multi-button * Lint * param to control stock vs sp ui * init styles * SP Toggles * Lint * optimizations * Panels. With Icons. And Scroller. * patience, grasshopper * more patience, grasshopper * sp raylib preview * fix callback * fix ui preview * add ui previews * introducing ui_state_sp for py * param to control stock vs sp ui * better * add ui_update callback * better padding * init * revert padding to 20 * new line, who dis * this * support for next line multi-button * use inline=false * uhh * disabled colors * hide em all * lambdas * NOT inline * final touches * hide HIDE * ruff.. RUFF.. WHY RUFF * listitem -> listitemsp * Revert "add ui_update callback" This reverts commit 4da32cc0097434aab0aa6a3c35465eabb23c8958. * add show_description method * remove padding from line separator. like, WHY? 😩😩 * scroller -> scroller_tici * scroller -> scroller_tici * remove line separator padding * ui: `GuiApplicationExt` * add to readme * use gui_app.sunnypilot_ui() * use gui_app.sunnypilot_ui() * use gui_app.sunnypilot_ui() * uhhh. nope * optimizations * I THINK this is not needed, i don't see it used on the visuals panel... * unhide for now... Why hidden tho? * refresh controls * missing * blindspot * standstill timer * road name toggle * more descriptions * more descriptions * update desc * param turn signals * sort * fix * always show desc if not available * should be bool * rocket fuel * steering arc * lint --------- Co-authored-by: Jason Wen Co-authored-by: DevTekVE --- common/params_keys.h | 2 +- .../ui/sunnypilot/layouts/settings/visuals.py | 126 +++++++++++++++++- .../onroad/blind_spot_indicators.py | 3 + .../ui/sunnypilot/onroad/circular_alerts.py | 10 +- .../ui/sunnypilot/onroad/hud_renderer.py | 4 +- selfdrive/ui/sunnypilot/onroad/road_name.py | 2 +- selfdrive/ui/sunnypilot/onroad/rocket_fuel.py | 5 + selfdrive/ui/sunnypilot/onroad/turn_signal.py | 3 + selfdrive/ui/sunnypilot/ui_state.py | 23 ++-- sunnypilot/sunnylink/params_metadata.json | 40 +++--- 10 files changed, 175 insertions(+), 43 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index 44584c9113..f2a63ec1b1 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -249,7 +249,7 @@ inline static std::unordered_map keys = { {"OsmStateTitle", {PERSISTENT, STRING}}, {"OsmWayTest", {PERSISTENT, STRING}}, {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}}, - {"RoadNameToggle", {PERSISTENT, STRING}}, + {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}}, // Speed Limit {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}}, diff --git a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py index 1036af3e5f..84be5a26ab 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py @@ -5,9 +5,18 @@ This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ from openpilot.common.params import Params +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.system.ui.lib.multilang import tr, tr_noop +from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, multiple_button_item_sp from openpilot.system.ui.widgets.scroller_tici import Scroller from openpilot.system.ui.widgets import Widget +CHEVRON_INFO_DESCRIPTION = { + "enabled": tr_noop("Display useful metrics below the chevron that tracks the lead car " + + "only applicable to cars with sunnypilot longitudinal control."), + "disabled": tr_noop("This feature requires sunnypilot longitudinal control to be available.") +} + class VisualsLayout(Widget): def __init__(self): @@ -18,13 +27,128 @@ class VisualsLayout(Widget): self._scroller = Scroller(items, line_separator=True, spacing=0) def _initialize_items(self): - items = [ + self._toggle_defs = { + "BlindSpot": ( + lambda: tr("Show Blind Spot Warnings"), + tr("Enabling this will display warnings when a vehicle is detected in your " + + "blind spot as long as your car has BSM supported."), + None, + ), + "TorqueBar": ( + lambda: tr("Steering Arc"), + tr("Display steering arc on the driving screen when lateral control is enabled."), + None, + ), + "RainbowMode": ( + lambda: tr("Enable Tesla Rainbow Mode"), + tr("A beautiful rainbow effect on the path the model wants to take. " + + "It does not affect driving in any way."), + None, + ), + "StandstillTimer": ( + lambda: tr("Enable Standstill Timer"), + tr("Show a timer on the HUD when the car is at a standstill."), + None, + ), + "RoadNameToggle": ( + lambda: tr("Display Road Name"), + tr("Displays the name of the road the car is traveling on." + + "
The OpenStreetMap database of the location must be downloaded from " + + "the OSM panel to fetch the road name."), + None, + ), + "GreenLightAlert": ( + lambda: tr("Green Traffic Light Alert (Beta)"), + tr("A chime and on-screen alert will play when the traffic light you are waiting for " + + "turns green and you have no vehicle in front of you." + + "
Note: This chime is only designed as a notification. " + + "It is the driver's responsibility to observe their environment and make decisions accordingly."), + None, + ), + "LeadDepartAlert": ( + lambda: tr("Lead Departure Alert (Beta)"), + tr("A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving." + + "
Note: This chime is only designed as a notification. " + + "It is the driver's responsibility to observe their environment and make decisions accordingly."), + None, + ), + "TrueVEgoUI": ( + lambda: tr("Speedometer: Always Display True Speed"), + tr("For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."), + None, + ), + "HideVEgoUI": ( + lambda: tr("Speedometer: Hide from Onroad Screen"), + tr("When enabled, the speedometer on the onroad screen is not displayed."), + None, + ), + "ShowTurnSignals": ( + lambda: tr("Display Turn Signals"), + tr("When enabled, visual turn indicators are drawn on the HUD."), + None, + ), + "RocketFuel": ( + lambda: tr("Real-time Acceleration Bar"), + tr("Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. " + + "This displays what the car is currently doing, not what the planner is requesting."), + None, + ), + } + self._toggles = {} + for param, (title, desc, callback) in self._toggle_defs.items(): + toggle = toggle_item_sp( + title=title, + description=desc, + param=param, + initial_state=ui_state.params.get_bool(param), + callback=callback, + ) + self._toggles[param] = toggle + self._chevron_info = multiple_button_item_sp( + title=lambda: tr("Display Metrics Below Chevron"), + description="", + buttons=[lambda: tr("Off"), lambda: tr("Distance"), lambda: tr("Speed"), lambda: tr("Time"), lambda: tr("All")], + param="ChevronInfo", + inline=False + ) + self._dev_ui_info = multiple_button_item_sp( + title=lambda: tr("Developer UI"), + description=lambda: tr("Display real-time parameters and metrics from various sources."), + buttons=[lambda: tr("Off"), lambda: tr("Bottom"), lambda: tr("Right"), lambda: tr("Right & Bottom")], + param="DevUIInfo", + button_width=350, + inline=False + ) + + items = list(self._toggles.values()) + [ + self._chevron_info, + self._dev_ui_info, ] return items + def _update_state(self): + super()._update_state() + + for param in self._toggle_defs: + self._toggles[param].action_item.set_state(self._params.get_bool(param)) + + self._dev_ui_info.action_item.set_selected_button(ui_state.params.get("DevUIInfo", return_default=True)) + + if ui_state.has_longitudinal_control: + self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["enabled"])) + self._chevron_info.action_item.set_selected_button(ui_state.params.get("ChevronInfo", return_default=True)) + self._chevron_info.action_item.set_enabled(True) + else: + self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["disabled"])) + self._chevron_info.action_item.set_enabled(False) + ui_state.params.put("ChevronInfo", 0) + def _render(self, rect): self._scroller.render(rect) def show_event(self): self._scroller.show_event() + if not ui_state.has_longitudinal_control: + self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["disabled"])) + self._chevron_info.show_description(True) diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py index 1087579fef..61aa52537b 100644 --- a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py +++ b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py @@ -31,6 +31,9 @@ class BlindSpotIndicators: return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01 def render(self, rect: rl.Rectangle) -> None: + if not ui_state.blindspot: + return + BLIND_SPOT_MARGIN_X = 20 # Distance from edge of screen BLIND_SPOT_Y_OFFSET = 100 # Distance from top of screen diff --git a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py index 965ce7fe77..8aa4c71d0d 100644 --- a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py +++ b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py @@ -23,7 +23,6 @@ class CircularAlertsRenderer: self._e2e_alert_frame = 0 self._green_light_alert = False self._lead_depart_alert = False - self._standstill_timer = False self._standstill_elapsed_time = 0.0 self._is_standstill = False self._alert_text = "" @@ -36,7 +35,6 @@ class CircularAlertsRenderer: car_state = sm['carState'] self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert - self._standstill_timer = ui_state.standstill_timer self._is_standstill = car_state.standstill if not ui_state.started: @@ -61,7 +59,7 @@ class CircularAlertsRenderer: self._alert_text = "LEAD VEHICLE\nDEPARTING" self._alert_img = self._lead_depart_alert_img - elif self._standstill_timer and self._is_standstill: + elif ui_state.standstill_timer and self._is_standstill: self._alert_img = None self._standstill_elapsed_time += 1.0 / gui_app.target_fps minute = int(self._standstill_elapsed_time / 60) @@ -75,7 +73,7 @@ class CircularAlertsRenderer: self._standstill_elapsed_time = 0.0 def render(self, rect: rl.Rectangle) -> None: - if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (self._standstill_timer and self._is_standstill)): + if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (ui_state.standstill_timer and self._is_standstill)): return e2e_alert_size = 250 @@ -91,7 +89,7 @@ class CircularAlertsRenderer: is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5) # Standstill Timer (STOPPED) should be static white - if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill: + if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill: frame_color = rl.Color(255, 255, 255, 75) else: frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75) @@ -121,7 +119,7 @@ class CircularAlertsRenderer: # Draw lines upwards from bottom current_y = bottom_y - (len(lines) * text_size * FONT_SCALE) - if self._e2e_alert_display_timer == 0 and self._standstill_timer and self._is_standstill: + if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill: # Standstill Timer Text alert_alt_text = "STOPPED" top_text_size = 80 diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 3b810d62e9..d8ba4b8bf0 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -59,6 +59,4 @@ class HudRendererSP(HudRenderer): self.smart_cruise_control_renderer.render(rect) self.turn_signal_controller.render(rect) self.circular_alerts_renderer.render(rect) - - if ui_state.rocket_fuel: - self.rocket_fuel.render(rect, ui_state.sm) + self.rocket_fuel.render(rect, ui_state.sm) diff --git a/selfdrive/ui/sunnypilot/onroad/road_name.py b/selfdrive/ui/sunnypilot/onroad/road_name.py index 652e620ad6..f85285ef53 100644 --- a/selfdrive/ui/sunnypilot/onroad/road_name.py +++ b/selfdrive/ui/sunnypilot/onroad/road_name.py @@ -31,7 +31,7 @@ class RoadNameRenderer(Widget): self.road_name = lmd.roadName def _render(self, rect: rl.Rectangle): - if not self.road_name: + if not self.road_name or not ui_state.road_name_toggle: return text = self.road_name diff --git a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py index af25711a92..cb1012890e 100644 --- a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py +++ b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py @@ -6,12 +6,17 @@ See the LICENSE.md file in the root directory for more details. """ import pyray as rl +from openpilot.selfdrive.ui.ui_state import ui_state + class RocketFuel: def __init__(self): self.vc_accel = 0.0 def render(self, rect: rl.Rectangle, sm) -> None: + if not ui_state.rocket_fuel: + return + vc_accel0 = sm['carState'].aEgo # Smooth the acceleration diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py index 3a66ffeb03..04fff7db76 100644 --- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -137,6 +137,9 @@ class TurnSignalController: self._right_signal.deactivate() def render(self, rect: rl.Rectangle): + if not ui_state.turn_signals: + return + x = rect.x + rect.width / 2 left_x = x - self._config.left_x - self._config.size diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 6d7eab51cd..6403157d5c 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -120,22 +120,23 @@ class UIStateSP: CP_SP_bytes = self.params.get("CarParamsSPPersistent") if CP_SP_bytes is not None: self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP) - self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled") - self.developer_ui = self.params.get("DevUIInfo") - self.rocket_fuel = self.params.get_bool("RocketFuel") - self.rainbow_path = self.params.get_bool("RainbowMode") - self.chevron_metrics = self.params.get("ChevronInfo") - self.torque_bar = self.params.get_bool("TorqueBar") self.active_bundle = self.params.get("ModelManager_ActiveBundle") + self.blindspot = self.params.get_bool("BlindSpot") + self.chevron_metrics = self.params.get("ChevronInfo") self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True) - self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True) - self.standstill_timer = self.params.get_bool("StandstillTimer") - self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI") + self.developer_ui = self.params.get("DevUIInfo") self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI") - - # Onroad Screen Brightness self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True))) self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True) + self.rainbow_path = self.params.get_bool("RainbowMode") + self.road_name_toggle = self.params.get_bool("RoadNameToggle") + self.rocket_fuel = self.params.get_bool("RocketFuel") + self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True) + self.standstill_timer = self.params.get_bool("StandstillTimer") + self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled") + self.torque_bar = self.params.get_bool("TorqueBar") + self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI") + self.turn_signals = self.params.get_bool("ShowTurnSignals") class DeviceSP: diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index 090beb49f0..c0c84eac09 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -90,8 +90,8 @@ "description": "" }, "BlindSpot": { - "title": "Blind Spot Detection", - "description": "" + "title": "[TIZI/TICI only] Blind Spot Detection", + "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported." }, "BlinkerMinLateralControlSpeed": { "title": "Blinker Min Lateral Control Speed", @@ -339,8 +339,8 @@ "description": "" }, "GreenLightAlert": { - "title": "Green Light Alert", - "description": "" + "title": "Green Traffic Light Alert (Beta)", + "description": "A chime and on-screen alert (TIZI/TICI only) will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.
Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly." }, "GsmApn": { "title": "GSM APN", @@ -367,8 +367,8 @@ "description": "" }, "HideVEgoUI": { - "title": "Hide vEgo UI", - "description": "" + "title": "[TIZI/TICI only] Speedometer: Hide from Onroad Screen", + "description": "When enabled, the speedometer on the onroad screen is not displayed." }, "HyundaiLongitudinalTuning": { "title": "Hyundai Longitudinal Tuning", @@ -585,8 +585,8 @@ "description": "" }, "LeadDepartAlert": { - "title": "Lead Depart Alert", - "description": "" + "title": "Lead Departure Alert (Beta)", + "description": "A chime and on-screen alert (TIZI/TICI only) will play when you are stopped, and the vehicle in front of you start moving.
Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly." }, "LiveDelay": { "title": "Live Delay", @@ -1079,12 +1079,12 @@ "description": "" }, "RoadNameToggle": { - "title": "Display Road Name", - "description": "" + "title": "[TIZI/TICI only] Display Road Name", + "description": "Displays the name of the road the car is traveling on.
The OpenStreetMap database of the location must be downloaded to fetch the road name." }, "RocketFuel": { - "title": "Display Rocket Fuel Bar", - "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration." + "title": "[TIZI/TICI only] Real-time Acceleration Bar", + "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. This displays what the car is currently doing, not what the planner is requesting." }, "RouteCount": { "title": "Route Count", @@ -1103,8 +1103,8 @@ "description": "" }, "ShowTurnSignals": { - "title": "Show Turn Signals", - "description": "" + "title": "[TIZI/TICI only] Display Turn Signals", + "description": "When enabled, visual turn indicators are drawn on the HUD." }, "SmartCruiseControlMap": { "title": "Smart Cruise Control - Map", @@ -1196,8 +1196,8 @@ "description": "" }, "StandstillTimer": { - "title": "Standstill Timer", - "description": "" + "title": "[TIZI/TICI only] Standstill Timer", + "description": "Show a timer on the HUD when the car is at a standstill." }, "SubaruStopAndGo": { "title": "Subaru Stop and Go", @@ -1240,8 +1240,8 @@ "description": "" }, "TorqueBar": { - "title": "Steering Arc", - "description": "[TIZI/TICI only] Display steering arc on the driving screen when lateral control is enabled." + "title": "[TIZI/TICI only] Steering Arc", + "description": "Display steering arc on the driving screen when lateral control is enabled." }, "TorqueParamsOverrideEnabled": { "title": "Manual Real-Time Tuning", @@ -1271,8 +1271,8 @@ "description": "" }, "TrueVEgoUI": { - "title": "True vEgo UI", - "description": "" + "title": "[TIZI/TICI only] Speedometer: Always Display True Speed", + "description": "For applicable vehicles, always display the true vehicle current speed from wheel speed sensors." }, "UbloxAvailable": { "title": "Ublox Available", From 1f778c8c23df8508fff09c3535f05356c4fa683d Mon Sep 17 00:00:00 2001 From: Nayan Date: Mon, 9 Feb 2026 00:38:39 -0500 Subject: [PATCH 144/144] Device: Retain QuickBoot state after op switch (#1333) Device: Retain QuickBoot state after SSH Update Co-authored-by: Jason Wen Co-authored-by: DevTekVE --- system/manager/manager.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/system/manager/manager.py b/system/manager/manager.py index 36e45488f6..8c5d35d072 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -20,6 +20,7 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata from openpilot.system.hardware.hw import Paths +from openpilot.system.hardware import PC def manager_init() -> None: @@ -39,6 +40,12 @@ def manager_init() -> None: if params.get("DeviceBootMode") == 1: # start in Always Offroad mode params.put_bool("OffroadMode", True) + # quick boot + if params.get_bool("QuickBootToggle") and not PC: + prebuilt_path = "/data/openpilot/prebuilt" + if not os.path.exists(prebuilt_path): + open(prebuilt_path, 'x').close() + if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True)