diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 324912a7dc..33940b6d4b 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -1,7 +1,7 @@
name: "PR review"
on:
pull_request_target:
- types: [opened, reopened, synchronize, edited, edited]
+ types: [opened, reopened, synchronize, edited]
jobs:
labeler:
@@ -50,4 +50,3 @@ jobs:
* all the tests are passing
* the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
* include a route or your device' dongle ID if relevant
-
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 482c7af297..92f1766835 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -86,30 +86,34 @@ jobs:
build_mac:
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' }}
+ runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
+ - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
- name: Homebrew cache
uses: ./.github/workflows/auto-cache
with:
path: ~/Library/Caches/Homebrew
- key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
+ key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+ restore-keys: |
+ brew-macos-${{ env.CACHE_COMMIT_DATE }}
+ brew-macos
- name: Install dependencies
run: ./tools/mac_setup.sh
env:
# package install has DeprecationWarnings
PYTHONWARNINGS: default
- run: git lfs pull
- - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
- name: Getting scons cache
uses: ./.github/workflows/auto-cache
with:
path: /tmp/scons_cache
- key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
+ key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+ restore-keys: |
+ scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+ scons-${{ runner.arch }}-macos
- name: Building openpilot
run: . .venv/bin/activate && scons -j$(nproc)
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 9963f2958c..f9b24e0f2c 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -84,7 +84,7 @@ jobs:
if: github.event_name == 'pull_request_target'
id: find_diff
run: >-
- sudo apt-get install -y imagemagick
+ sudo apt-get update && sudo apt-get install -y imagemagick
scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
A=($scenes)
@@ -103,8 +103,7 @@ jobs:
DIFF="${DIFF}"
DIFF="${DIFF}"
- DIFF="${DIFF} master ![](\"https://dummyimage.com/1986x993/000000/ffffff?text=++Not+in+master\") | "
- DIFF="${DIFF} proposed ![](\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{) | "
+ DIFF="${DIFF} | "
DIFF="${DIFF}
"
DIFF="${DIFF}
"
diff --git a/RELEASES.md b/RELEASES.md
index 071622f89a..ced7e3d4fc 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,10 @@
-Version 0.9.9 (2025-04-XX)
+Version 0.9.9 (2025-04-30)
========================
+* New driving model
* Tesla Model 3 and Y support thanks to lukasloetkolben!
+* Coming soon
+ * New driving model supervised by MLSIM
+ * An online learner for steering actuator delay
Version 0.9.8 (2025-02-28)
========================
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 8595bcda02..f2cd5686c9 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1586,6 +1586,10 @@ struct UbloxGnss {
svId @0 :UInt8;
gnssId @1 :UInt8;
flagsBitfield @2 :UInt32;
+ cno @3 :UInt8;
+ elevationDeg @4 :Int8;
+ azimuthDeg @5 :Int16;
+ pseudorangeResidual @6 :Float32;
}
}
@@ -2274,6 +2278,21 @@ struct LiveTorqueParametersData {
useParams @12 :Bool;
}
+struct LiveDelayData {
+ lateralDelay @0 :Float32;
+ validBlocks @1 :Int32;
+ status @2 :Status;
+
+ lateralDelayEstimate @3 :Float32;
+ points @4 :List(Float32);
+
+ enum Status {
+ unestimated @0;
+ estimated @1;
+ invalid @2;
+ }
+}
+
struct LiveMapDataDEPRECATED {
speedLimitValid @0 :Bool;
speedLimit @1 :Float32;
@@ -2504,6 +2523,7 @@ struct Event {
gnssMeasurements @91 :GnssMeasurements;
liveParameters @61 :LiveParametersData;
liveTorqueParameters @94 :LiveTorqueParametersData;
+ liveDelay @146 : LiveDelayData;
cameraOdometry @63 :CameraOdometry;
thumbnail @66: Thumbnail;
onroadEvents @134: List(OnroadEvent);
diff --git a/docs/CARS.md b/docs/CARS.md
index a3b1fe6351..854273f8f7 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -8,308 +8,308 @@ A supported vehicle is one that just works when you install a comma device. All
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|![]()
Hardware Needed
|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|Parts
- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|Parts
- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai Q connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai J connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai P connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai L connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v3
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v3
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 comma 3X
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- 1 harness box
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- 1 comma 3X
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- 1 harness box
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 VW J533 connector
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 comma 3X
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- 1 comma 3X
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- 1 USB-C coupler
- 1 comma 3X
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- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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- 1 comma 3X
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diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 477c7511ca..1c5bbe9a63 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -31,13 +31,3 @@ cd system/loggerd && pytest .
# run the linter
op lint
```
-
-## Testing
-
-### Automated Testing
-
-All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
-
-### Code Style and Linting
-
-Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
diff --git a/msgq_repo b/msgq_repo
index e40720fb5d..a144e41d5f 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit e40720fb5d325bccf358c647630eda619a01a948
+Subproject commit a144e41d5ff382177b979bafeab54cf8d39f6f3e
diff --git a/opendbc_repo b/opendbc_repo
index c10bc5bd85..71d422f8fe 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c10bc5bd85a66b61e9f917a56154b6e3e2414288
+Subproject commit 71d422f8fe623f395217a7c5490c792ea9ef758c
diff --git a/panda b/panda
index ccb9581b1c..503f5dd6c3 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ccb9581b1ce08ff899b50d986c5e2b155ce8c339
+Subproject commit 503f5dd6c3485bc9cd6f35cf5105030166674fce
diff --git a/pyproject.toml b/pyproject.toml
index a83736a3ae..713993274c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,7 +26,7 @@ dependencies = [
"pycapnp",
"Cython",
"setuptools",
- "numpy < 2.0.0",
+ "numpy >=2.0, <2.2", # Linting issues with mypy in 2.2
# body / webrtcd
"aiohttp",
diff --git a/rednose_repo b/rednose_repo
index 05fd60278a..8b86052919 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 05fd60278a95190cc5a61f40730c82eaa1d986e1
+Subproject commit 8b860529199569401d5d8e105bc1be600fca49a8
diff --git a/scripts/jenkins_loop_test.sh b/scripts/jenkins_loop_test.sh
index 0b242e98dc..8073f4668c 100755
--- a/scripts/jenkins_loop_test.sh
+++ b/scripts/jenkins_loop_test.sh
@@ -16,7 +16,7 @@ CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer
FIRST_LOOP=1
function loop() {
- JENKINS_BRANCH="__jenkins_loop_${BRANCH}"
+ JENKINS_BRANCH="__jenkins_loop_${BRANCH}_$(date +%s)"
API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH"
for run in $(seq 1 $((RUNS / 2))); do
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 294722c06a..7820cb94de 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -12,7 +12,7 @@ from openpilot.common.swaglog import cloudlog
from opendbc.car.car_helpers import interfaces
from opendbc.car.vehicle_model import VehicleModel
from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
-from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -46,6 +46,7 @@ class Controls:
self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
self.steer_limited_by_controls = False
+ self.curvature = 0.0
self.desired_curvature = 0.0
self.pose_calibrator = PoseCalibrator()
@@ -78,6 +79,9 @@ class Controls:
sr = max(lp.steerRatio, 0.1)
self.VM.update_params(x, sr)
+ steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
+ self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
+
# Update Torque Params
if self.CP.lateralTuning.which() == 'torque':
torque_params = self.sm['liveTorqueParameters']
@@ -94,7 +98,7 @@ class Controls:
CC.enabled = self.sm['selfdriveState'].enabled
# Check which actuators can be enabled
- standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
+ standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
ss_sp = self.sm['selfdriveStateSP']
if ss_sp.mads.available:
@@ -102,7 +106,8 @@ class Controls:
else:
_lat_active = self.sm['selfdriveState'].active
- CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+ CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
+ (not standstill or self.CP.steerAtStandstill)
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
actuators = CC.actuators
@@ -123,7 +128,10 @@ class Controls:
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
# Steering PID loop and lateral MPC
- self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll)
+ # Reset desired curvature to current to avoid violating the limits on engage
+ new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
+ self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
+
actuators.curvature = self.desired_curvature
steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.steer_limited_by_controls, self.desired_curvature,
@@ -191,10 +199,7 @@ class Controls:
dat.valid = CS.canValid
cs = dat.controlsState
- lp = self.sm['liveParameters']
- steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
- cs.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
-
+ cs.curvature = self.curvature
cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
cs.desiredCurvature = self.desired_curvature
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 6bbce95bbc..a2c28ed8ce 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -3,8 +3,6 @@ from abc import abstractmethod, ABC
from openpilot.common.realtime import DT_CTRL
-MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s
-
class LatControl(ABC):
def __init__(self, CP, CP_SP, CI):
diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py
index 2369d99d86..dc44e8ac40 100755
--- a/selfdrive/debug/max_lat_accel.py
+++ b/selfdrive/debug/max_lat_accel.py
@@ -2,6 +2,8 @@
import argparse
import numpy as np
import matplotlib.pyplot as plt
+from functools import partial
+from tqdm import tqdm
from typing import NamedTuple
from openpilot.tools.lib.logreader import LogReader
from openpilot.selfdrive.locationd.models.pose_kf import EARTH_G
@@ -20,14 +22,15 @@ class Event(NamedTuple):
timestamp: float # relative to start of route (s)
-def find_events(lr: LogReader, qlog: bool = False) -> list[Event]:
+def find_events(lr: LogReader, extrapolate: bool = False, qlog: bool = False) -> list[Event]:
min_lat_active = RLOG_MIN_LAT_ACTIVE // QLOG_DECIMATION if qlog else RLOG_MIN_LAT_ACTIVE
min_steering_unpressed = RLOG_MIN_STEERING_UNPRESSED // QLOG_DECIMATION if qlog else RLOG_MIN_STEERING_UNPRESSED
min_requesting_max = RLOG_MIN_REQUESTING_MAX // QLOG_DECIMATION if qlog else RLOG_MIN_REQUESTING_MAX
- events = []
+ # if we test with driver torque safety, max torque can be slightly noisy
+ steer_threshold = 0.7 if extrapolate else 0.95
- start_ts = 0
+ events = []
# state tracking
steering_unpressed = 0 # frames
@@ -38,7 +41,9 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]:
curvature = 0
v_ego = 0
roll = 0
+ out_torque = 0
+ start_ts = 0
for msg in lr:
if msg.which() == 'carControl':
if start_ts == 0:
@@ -47,8 +52,8 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]:
lat_active = lat_active + 1 if msg.carControl.latActive else 0
elif msg.which() == 'carOutput':
- # if we test with driver torque safety, max torque can be slightly noisy
- requesting_max = requesting_max + 1 if abs(msg.carOutput.actuatorsOutput.torque) > 0.95 else 0
+ out_torque = msg.carOutput.actuatorsOutput.torque
+ requesting_max = requesting_max + 1 if abs(out_torque) > steer_threshold else 0
elif msg.which() == 'carState':
steering_unpressed = steering_unpressed + 1 if not msg.carState.steeringPressed else 0
@@ -64,7 +69,8 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]:
# TODO: record max lat accel at the end of the event, need to use the past lat accel as overriding can happen before we detect it
requesting_max = 0
- current_lateral_accel = curvature * v_ego ** 2 - roll * EARTH_G
+ factor = 1 / abs(out_torque)
+ current_lateral_accel = (curvature * v_ego ** 2 * factor) - roll * EARTH_G
events.append(Event(current_lateral_accel, v_ego, roll, round((msg.logMonoTime - start_ts) * 1e-9, 2)))
print(events[-1])
@@ -75,29 +81,38 @@ if __name__ == '__main__':
parser = argparse.ArgumentParser(description="Find max lateral acceleration events",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
- parser.add_argument("route")
+ parser.add_argument("route", nargs='+')
+ parser.add_argument("-e", "--extrapolate", action="store_true", help="Extrapolates max lateral acceleration events linearly. " +
+ "This option can be far less accurate.")
args = parser.parse_args()
- lr = LogReader(args.route, sort_by_time=True)
- qlog = args.route.endswith('/q')
- if qlog:
- print('WARNING: Treating route as qlog!')
+ events = []
+ for route in tqdm(args.route):
+ try:
+ lr = LogReader(route, sort_by_time=True)
+ except Exception:
+ print(f'Skipping {route}')
+ continue
- print('Finding events...')
- events = find_events(lr, qlog=qlog)
+ qlog = route.endswith('/q')
+ if qlog:
+ print('WARNING: Treating route as qlog!')
+
+ print('Finding events...')
+ events += lr.run_across_segments(8, partial(find_events, extrapolate=args.extrapolate, qlog=qlog), disable_tqdm=True)
print()
print(f'Found {len(events)} events')
- perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0], 90)
- perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0], 90)
+ perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0] or [0], 90)
+ perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0] or [0], 90)
CP = lr.first('carParams')
plt.ion()
plt.clf()
plt.suptitle(f'{CP.carFingerprint} - Max lateral acceleration events')
- plt.title(args.route)
+ plt.title(', '.join(args.route))
plt.scatter([ev.speed for ev in events], [ev.lateral_accel for ev in events], label='max lateral accel events')
plt.plot([0, 35], [3, 3], c='r', label='ISO 11270 - 3 m/s^2')
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 5f40f19e46..349897f371 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -160,19 +160,18 @@ class CarKalman(KalmanFilter):
gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars)
- def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None):
- dim_state = self.initial_x.shape[0]
- dim_state_err = self.P_initial.shape[0]
- x_init = self.initial_x
- x_init[States.STEER_RATIO] = steer_ratio
- x_init[States.STIFFNESS] = stiffness_factor
- x_init[States.ANGLE_OFFSET] = angle_offset
+ def __init__(self, generated_dir):
+ dim_state, dim_state_err = CarKalman.initial_x.shape[0], CarKalman.P_initial.shape[0]
+ self.filter = EKF_sym_pyx(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial,
+ dim_state, dim_state_err, global_vars=CarKalman.global_vars, logger=cloudlog)
- if P_initial is not None:
- self.P_initial = P_initial
- # init filter
- self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial,
- dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
+ def set_globals(self, mass, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear):
+ self.filter.set_global("mass", mass)
+ self.filter.set_global("rotational_inertia", rotational_inertia)
+ self.filter.set_global("center_to_front", center_to_front)
+ self.filter.set_global("center_to_rear", center_to_rear)
+ self.filter.set_global("stiffness_front", stiffness_front)
+ self.filter.set_global("stiffness_rear", stiffness_rear)
if __name__ == "__main__":
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 3819fba080..243abc5c08 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -1,8 +1,8 @@
#!/usr/bin/env python3
import os
-import math
import json
import numpy as np
+import capnp
import cereal.messaging as messaging
from cereal import car, log
@@ -13,12 +13,11 @@ from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
from openpilot.common.swaglog import cloudlog
-
MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s
-ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits
-ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
-ROLL_LOWERED_MAX = math.radians(8)
-ROLL_STD_MAX = math.radians(1.5)
+ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits
+ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10)
+ROLL_LOWERED_MAX = np.radians(8)
+ROLL_STD_MAX = np.radians(1.5)
LATERAL_ACC_SENSOR_THRESHOLD = 4.0
OFFSET_MAX = 10.0
OFFSET_LOWERED_MAX = 8.0
@@ -26,40 +25,58 @@ MIN_ACTIVE_SPEED = 1.0
LOW_ACTIVE_SPEED = 10.0
-class ParamsLearner:
- def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None):
- self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset, P_initial)
+class VehicleParamsLearner:
+ def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None):
+ self.kf = CarKalman(GENERATED_DIR)
- self.kf.filter.set_global("mass", CP.mass)
- self.kf.filter.set_global("rotational_inertia", CP.rotationalInertia)
- self.kf.filter.set_global("center_to_front", CP.centerToFront)
- self.kf.filter.set_global("center_to_rear", CP.wheelbase - CP.centerToFront)
- self.kf.filter.set_global("stiffness_front", CP.tireStiffnessFront)
- self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear)
+ self.x_initial = CarKalman.initial_x.copy()
+ self.x_initial[States.STEER_RATIO] = steer_ratio
+ self.x_initial[States.STIFFNESS] = stiffness_factor
+ self.x_initial[States.ANGLE_OFFSET] = angle_offset
+ self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial
- self.active = False
+ self.kf.set_globals(
+ mass=CP.mass,
+ rotational_inertia=CP.rotationalInertia,
+ center_to_front=CP.centerToFront,
+ center_to_rear=CP.wheelbase - CP.centerToFront,
+ stiffness_front=CP.tireStiffnessFront,
+ stiffness_rear=CP.tireStiffnessRear
+ )
+
+ self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
self.calibrator = PoseCalibrator()
- self.speed = 0.0
- self.yaw_rate = 0.0
- self.yaw_rate_std = 0.0
- self.roll = 0.0
- self.steering_angle = 0.0
+ self.observed_speed = 0.0
+ self.observed_yaw_rate = 0.0
+ self.observed_roll = 0.0
- def handle_log(self, t, which, msg):
+ self.avg_offset_valid = True
+ self.total_offset_valid = True
+ self.roll_valid = True
+
+ self.reset(None)
+
+ def reset(self, t: float | None):
+ self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t)
+
+ self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False
+ self.avg_angle_offset = self.angle_offset
+
+ def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
if which == 'livePose':
device_pose = Pose.from_live_pose(msg)
calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+ yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
yaw_rate_valid = msg.angularVelocityDevice.valid
- yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10 # rad/s
- yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1 # rad/s
- if yaw_rate_valid:
- self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
- else:
+ yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s
+ yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s
+ if not yaw_rate_valid:
# This is done to bound the yaw rate estimate when localizer values are invalid or calibrating
- self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(10.0)
+ yaw_rate, yaw_rate_std = 0.0, np.radians(10.0)
+ self.observed_yaw_rate = yaw_rate
localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std
localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std
@@ -72,18 +89,18 @@ class ParamsLearner:
# This is done to bound the road roll estimate when localizer values are invalid
roll = 0.0
roll_std = np.radians(10.0)
- self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
+ self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA)
if self.active:
if msg.posenetOK:
self.kf.predict_and_observe(t,
ObservationKind.ROAD_FRAME_YAW_RATE,
- np.array([[-self.yaw_rate]]),
- np.array([np.atleast_2d(self.yaw_rate_std**2)]))
+ np.array([[-self.observed_yaw_rate]]),
+ np.array([np.atleast_2d(yaw_rate_std**2)]))
self.kf.predict_and_observe(t,
ObservationKind.ROAD_ROLL,
- np.array([[self.roll]]),
+ np.array([[self.observed_roll]]),
np.array([np.atleast_2d(roll_std**2)]))
self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]]))
@@ -99,20 +116,79 @@ class ParamsLearner:
self.calibrator.feed_live_calib(msg)
elif which == 'carState':
- self.steering_angle = msg.steeringAngleDeg
- self.speed = msg.vEgo
+ steering_angle = msg.steeringAngleDeg
- in_linear_region = abs(self.steering_angle) < 45
- self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region
+ in_linear_region = abs(steering_angle) < 45
+ self.observed_speed = msg.vEgo
+ self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region
if self.active:
- self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]]))
- self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.speed]]))
+ self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]]))
+ self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]]))
if not self.active:
# Reset time when stopped so uncertainty doesn't grow
- self.kf.filter.set_filter_time(t)
- self.kf.filter.reset_rewind()
+ self.kf.filter.set_filter_time(t) # type: ignore
+ self.kf.filter.reset_rewind() # type: ignore
+
+ def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
+ x = self.kf.x
+ P = np.sqrt(self.kf.P.diagonal())
+ if not np.all(np.isfinite(x)):
+ cloudlog.error("NaN in liveParameters estimate. Resetting to default values")
+ self.reset(self.kf.t)
+ x = self.kf.x
+
+ self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()),
+ self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA)
+ self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
+ self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA)
+ self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
+ roll_std = float(P[States.ROAD_ROLL].item())
+ if self.active and self.observed_speed > LOW_ACTIVE_SPEED:
+ # Account for the opposite signs of the yaw rates
+ # At low speeds, bumping into a curb can cause the yaw rate to be very high
+ sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+ else:
+ sensors_valid = True
+ self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
+ self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
+ self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX)
+
+ msg = messaging.new_message('liveParameters')
+
+ msg.valid = valid
+
+ liveParameters = msg.liveParameters
+ liveParameters.posenetValid = True
+ liveParameters.sensorValid = sensors_valid
+ liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
+ liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
+ liveParameters.roll = float(self.roll)
+ liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset)
+ liveParameters.angleOffsetDeg = float(self.angle_offset)
+ liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr
+ liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
+ liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid)
+ liveParameters.angleOffsetValid = bool(self.total_offset_valid)
+ liveParameters.valid = all((
+ liveParameters.angleOffsetAverageValid,
+ liveParameters.angleOffsetValid ,
+ self.roll_valid,
+ roll_std < ROLL_STD_MAX,
+ liveParameters.stiffnessFactorValid,
+ liveParameters.steerRatioValid,
+ ))
+ liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
+ liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
+ liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
+ liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
+ if debug:
+ liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message()
+ liveParameters.debugFilterState.value = x.tolist()
+ liveParameters.debugFilterState.std = P.tolist()
+
+ return msg
def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float):
@@ -123,6 +199,65 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
return current_valid
+# TODO: Remove this function after few releases (added in 0.9.9)
+def migrate_cached_vehicle_params_if_needed(params_reader: Params):
+ last_parameters_data = params_reader.get("LiveParameters")
+ if last_parameters_data is None:
+ return
+
+ try:
+ last_parameters_dict = json.loads(last_parameters_data)
+ last_parameters_msg = messaging.new_message('liveParameters')
+ last_parameters_msg.liveParameters.valid = True
+ last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
+ last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
+ last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
+ params_reader.put("LiveParameters", last_parameters_msg.to_bytes())
+ except Exception:
+ pass
+
+
+def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool):
+ last_parameters_data = params_reader.get("LiveParameters")
+ last_carparams_data = params_reader.get("CarParamsPrevRoute")
+
+ steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None
+
+ retrieve_success = False
+ if last_parameters_data is not None and last_carparams_data is not None:
+ try:
+ with log.Event.from_bytes(last_parameters_data) as last_lp_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
+ lp = last_lp_msg.liveParameters
+ # Check if car model matches
+ if last_CP.carFingerprint != CP.carFingerprint:
+ raise Exception("Car model mismatch")
+
+ # Check if starting values are sane
+ min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
+ steer_ratio_sane = min_sr <= lp.steerRatio <= max_sr
+ if not steer_ratio_sane:
+ raise Exception(f"Invalid starting values found {lp}")
+
+ initial_filter_std = np.array(lp.debugFilterState.std)
+ if debug and len(initial_filter_std) != 0:
+ p_initial = np.diag(initial_filter_std)
+
+ steer_ratio, stiffness_factor, angle_offset_deg = lp.steerRatio, lp.stiffnessFactor, lp.angleOffsetAverageDeg
+ retrieve_success = True
+ except Exception as e:
+ cloudlog.error(f"Failed to retrieve initial values: {e}")
+
+ if not replay:
+ # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
+ # Without a way to detect this we have to reset the stiffness every drive
+ stiffness_factor = 1.0
+
+ if not retrieve_success:
+ cloudlog.info("Parameter learner resetting to default values")
+
+ return steer_ratio, stiffness_factor, angle_offset_deg, p_initial
+
+
def main():
config_realtime_process([0, 1, 2, 3], 5)
@@ -133,59 +268,12 @@ def main():
sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
params_reader = Params()
- # wait for stats about the car to come in from controls
- cloudlog.info("paramsd is waiting for CarParams")
CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
- cloudlog.info("paramsd got CarParams")
- min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
+ migrate_cached_vehicle_params_if_needed(params_reader)
- params = params_reader.get("LiveParameters")
-
- # Check if car model matches
- if params is not None:
- params = json.loads(params)
- if params.get('carFingerprint', None) != CP.carFingerprint:
- cloudlog.info("Parameter learner found parameters for wrong car.")
- params = None
-
- # Check if starting values are sane
- if params is not None:
- try:
- steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr
- if not steer_ratio_sane:
- cloudlog.info(f"Invalid starting values found {params}")
- params = None
- except Exception as e:
- cloudlog.info(f"Error reading params {params}: {str(e)}")
- params = None
-
- # TODO: cache the params with the capnp struct
- if params is None:
- params = {
- 'carFingerprint': CP.carFingerprint,
- 'steerRatio': CP.steerRatio,
- 'stiffnessFactor': 1.0,
- 'angleOffsetAverageDeg': 0.0,
- }
- cloudlog.info("Parameter learner resetting to default values")
-
- if not REPLAY:
- # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
- # Without a way to detect this we have to reset the stiffness every drive
- params['stiffnessFactor'] = 1.0
-
- pInitial = None
- if DEBUG:
- pInitial = np.array(params['debugFilterState']['std']) if 'debugFilterState' in params else None
-
- learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial)
- angle_offset_average = params['angleOffsetAverageDeg']
- angle_offset = angle_offset_average
- roll = 0.0
- avg_offset_valid = True
- total_offset_valid = True
- roll_valid = True
+ steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG)
+ learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
while True:
sm.update()
@@ -196,72 +284,13 @@ def main():
learner.handle_log(t, which, sm[which])
if sm.updated['livePose']:
- x = learner.kf.x
- P = np.sqrt(learner.kf.P.diagonal())
- if not all(map(math.isfinite, x)):
- cloudlog.error("NaN in liveParameters estimate. Resetting to default values")
- learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
- x = learner.kf.x
-
- angle_offset_average = np.clip(math.degrees(x[States.ANGLE_OFFSET].item()),
- angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
- angle_offset = np.clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
- angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
- roll = np.clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
- roll_std = float(P[States.ROAD_ROLL].item())
- if learner.active and learner.speed > LOW_ACTIVE_SPEED:
- # Account for the opposite signs of the yaw rates
- # At low speeds, bumping into a curb can cause the yaw rate to be very high
- sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
- else:
- sensors_valid = True
- avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX)
- total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
- roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX)
-
- msg = messaging.new_message('liveParameters')
-
- liveParameters = msg.liveParameters
- liveParameters.posenetValid = True
- liveParameters.sensorValid = sensors_valid
- liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
- liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
- liveParameters.roll = float(roll)
- liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
- liveParameters.angleOffsetDeg = float(angle_offset)
- liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr
- liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
- liveParameters.angleOffsetAverageValid = bool(avg_offset_valid)
- liveParameters.angleOffsetValid = bool(total_offset_valid)
- liveParameters.valid = all((
- liveParameters.angleOffsetAverageValid,
- liveParameters.angleOffsetValid ,
- roll_valid,
- roll_std < ROLL_STD_MAX,
- liveParameters.stiffnessFactorValid,
- liveParameters.steerRatioValid,
- ))
- liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
- liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
- liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
- liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
- if DEBUG:
- liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message()
- liveParameters.debugFilterState.value = x.tolist()
- liveParameters.debugFilterState.std = P.tolist()
-
- msg.valid = sm.all_checks()
+ msg = learner.get_msg(sm.all_checks(), debug=DEBUG)
+ msg_dat = msg.to_bytes()
if sm.frame % 1200 == 0: # once a minute
- params = {
- 'carFingerprint': CP.carFingerprint,
- 'steerRatio': liveParameters.steerRatio,
- 'stiffnessFactor': liveParameters.stiffnessFactor,
- 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg,
- }
- params_reader.put_nonblocking("LiveParameters", json.dumps(params))
+ params_reader.put_nonblocking("LiveParameters", msg_dat)
- pm.send('liveParameters', msg)
+ pm.send('liveParameters', msg_dat)
if __name__ == "__main__":
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
new file mode 100644
index 0000000000..3c2bf9249a
--- /dev/null
+++ b/selfdrive/locationd/test/test_paramsd.py
@@ -0,0 +1,57 @@
+import random
+import numpy as np
+import json
+
+from cereal import messaging
+from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
+from openpilot.selfdrive.locationd.models.car_kf import CarKalman
+from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+
+
+def get_random_live_parameters(CP):
+ msg = messaging.new_message("liveParameters")
+ msg.liveParameters.steerRatio = (random.random() + 0.5) * CP.steerRatio
+ msg.liveParameters.stiffnessFactor = random.random()
+ msg.liveParameters.angleOffsetAverageDeg = random.random()
+ msg.liveParameters.debugFilterState.std = [random.random() for _ in range(CarKalman.P_initial.shape[0])]
+ return msg
+
+
+class TestParamsd:
+ def test_read_saved_params(self):
+ params = Params()
+
+ lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+ CP = next(m for m in lr if m.which() == "carParams").carParams
+
+ msg = get_random_live_parameters(CP)
+ params.put("LiveParameters", msg.to_bytes())
+ params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+
+ migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
+ sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
+ np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
+ np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
+ np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
+ np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
+ np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
+
+ # TODO Remove this test after the support for old format is removed
+ def test_read_saved_params_old_format(self):
+ params = Params()
+
+ lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+ CP = next(m for m in lr if m.which() == "carParams").carParams
+
+ msg = get_random_live_parameters(CP)
+ params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
+ params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+
+ migrate_cached_vehicle_params_if_needed(params)
+ sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
+ np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
+ np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
+ np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 590b6cc6f7..fcaa19df73 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -32,7 +32,7 @@ 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']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian']
def slope2rot(slope):
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 9ebdea4c75..94e117bc6a 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -134,7 +134,7 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
def main():
setproctitle(PROCESS_NAME)
- config_realtime_process([0, 1, 2, 3], 5)
+ config_realtime_process(7, 5)
sentry.set_tag("daemon", PROCESS_NAME)
cloudlog.bind(daemon=PROCESS_NAME)
@@ -173,6 +173,9 @@ def main():
model_output, gpu_execution_time = model.run(buf, calib, model_transform)
t2 = time.perf_counter()
+ # run one more time, just for the load
+ model.run(buf, calib, model_transform)
+
pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index a254d6a063..5e68fb30cd 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -108,30 +108,14 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
# lateral planning
modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
- # times at X_IDXS according to model plan
- PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
- PLAN_T_IDXS[0] = 0.0
- plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
- for xidx in range(1, ModelConstants.IDX_N):
- tidx = 0
- # increment tidx until we find an element that's further away than the current xidx
- while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
- tidx += 1
- if tidx == ModelConstants.IDX_N - 1:
- # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
- PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
- break
- # interpolate to find `t` for the current xidx
- current_x_val = plan_x[tidx]
- next_x_val = plan_x[tidx+1]
- p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
- PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+ # times at X_IDXS of edges and lines aren't used
+ LINE_T_IDXS: list[float] = []
# lane lines
modelV2.init('laneLines', 4)
for i in range(4):
lane_line = modelV2.laneLines[i]
- fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+ fill_xyzt(lane_line, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
@@ -141,7 +125,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
modelV2.init('roadEdges', 2)
for i in range(2):
road_edge = modelV2.roadEdges[i]
- fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+ fill_xyzt(road_edge, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
# leads
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index b6a3348d5a..4aa171a5a5 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -19,7 +19,6 @@ from openpilot.selfdrive.car.car_specific import CarSpecificEvents
from openpilot.selfdrive.selfdrived.events import Events, ET
from openpilot.selfdrive.selfdrived.state import StateMachine
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEED
from openpilot.system.version import get_build_metadata
@@ -301,7 +300,6 @@ class SelfdriveD(CruiseHelper):
self.events.add(EventName.radarTempUnavailable)
else:
self.events.add(EventName.radarFault)
- self.events.add(EventName.radarFault)
if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError)
if CS.canTimeout:
@@ -357,7 +355,7 @@ class SelfdriveD(CruiseHelper):
controlstate = self.sm['controlsState']
lac = getattr(controlstate.lateralControlState, controlstate.lateralControlState.which())
if lac.active and not recent_steer_pressed and not self.CP.notCar:
- clipped_speed = max(CS.vEgo, MIN_LATERAL_CONTROL_SPEED)
+ clipped_speed = max(CS.vEgo, 0.3)
actual_lateral_accel = controlstate.curvature * (clipped_speed**2)
desired_lateral_accel = self.sm['modelV2'].action.desiredCurvature * (clipped_speed**2)
undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index fd13c4f239..e1d0352262 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -276,7 +276,7 @@ def migrate_pandaStates(msgs):
"KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
}
# TODO: get new Ford route
- safety_param_migration |= {car: FordSafetyFlags.LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
+ safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)
# Migrate safety param base on carParams
CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index e9b456e983..09c051970e 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -2,7 +2,6 @@
import os
import time
import copy
-import json
import heapq
import signal
from collections import Counter, OrderedDict
@@ -631,9 +630,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
if len(live_calibration) > 0:
custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
if len(live_parameters) > 0:
- lp_dict = live_parameters[msg_index].to_dict()
- lp_dict["carFingerprint"] = CP.carFingerprint
- custom_params["LiveParameters"] = json.dumps(lp_dict)
+ custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
if len(live_torque_parameters) > 0:
custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 353b8fa7ce..58ff170e74 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e9d57157494480637a8ffb52257d2b660a48be67
\ No newline at end of file
+887623a18d82088dc5ed9ecdced55eb0d3f718b1
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 1ea59c4856..de329d85f2 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -187,7 +187,7 @@ class TestOnroad:
def test_manager_starting_time(self):
st = self.ts['managerState']['t'][0]
- assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
+ assert (st - self.manager_st) < 12.5, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
def test_cloudlog_size(self):
msgs = self.msgs['logMessage']
@@ -391,8 +391,12 @@ class TestOnroad:
result += "----------------- Model Timing -----------------\n"
result += "------------------------------------------------\n"
cfgs = [
- ("modelV2", 0.045, 0.040), # TODO: this should be stricter but it's hard to measure exactly
- ("driverStateV2", 0.045, 0.035),
+ # since multiple processes use the GPU and can preempt each other,
+ # these numbers are not fully self-contained.
+ ("modelV2", 0.06, 0.040),
+
+ # can miss cycles here and there, just important the avg frequency is 20Hz
+ ("driverStateV2", 0.2, 0.05),
]
for (s, instant_max, avg_max) in cfgs:
ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc
index e6a9c5c6e9..31d241ba1b 100644
--- a/selfdrive/ui/qt/offroad/firehose.cc
+++ b/selfdrive/ui/qt/offroad/firehose.cc
@@ -108,7 +108,7 @@ void FirehosePanel::refresh() {
toggle_label->setText(tr("ACTIVE"));
toggle_label->setStyleSheet("font-size: 60px; font-weight: bold; color: #2ecc71;");
} else {
- toggle_label->setText(tr("INACTIVE: connect to unmetered network"));
+ toggle_label->setText(tr("INACTIVE: connect to an unmetered network"));
toggle_label->setStyleSheet("font-size: 60px;");
}
}
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 643d563a78..ca046f71a9 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -449,10 +449,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
ACTIVE
نشط
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>غير نشط</span>: اتصل بشبكة غير محسوبة
-
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
للحصول على أقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.<br><br>يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.<br><br><br><b>الأسئلة المتكررة</b><br><br><i>هل يهم كيف أو أين أقود؟</i> لا، فقط قد كما تفعل عادة.<br><br><i>هل يتم سحب كل مقاطع رحلاتي في وضع خرطوم الحريق؟</i> لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.<br><br><i>ما هو محول USB-C الجيد؟</i> أي شاحن سريع للهاتف أو اللابتوب يجب أن يكون مناسباً.<br><br><i>هل يهم أي برنامج أستخدم؟</i> نعم، فقط النسخة الأصلية من openpilot (وأفرع معينة) يمكن استخدامها للتدريب.
@@ -468,6 +464,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب.
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+
+
HudRenderer
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 622a822ba9..d0214a2600 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -447,10 +447,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
ACTIVE
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
-
-
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
@@ -462,6 +458,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+
+
HudRenderer
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 25ed875eff..8ef33c3946 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -137,11 +137,11 @@
Enable ADB
-
+ Activar ADB
ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.
-
+ ADB (Android Debug Bridge) permite conectar a su dispositivo por USB o por red. Visite https://docs.comma.ai/how-to/connect-to-comma para más información.
Hyundai: Enable Radar Tracks
@@ -431,37 +431,39 @@
FirehosePanel
🔥 Firehose Mode 🔥
-
+ 🔥 Modo Firehose 🔥
openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode.
-
+ openpilot aprende a conducir observando a humanos, como tú, conducir.
+
+El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para mejorar los modelos de conducción de openpilot. Más datos significan modelos más grandes, lo que significa un mejor Modo Experimental.
Firehose Mode: ACTIVE
-
+ Modo Firehose: ACTIVO
ACTIVE
-
-
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
-
+ ACTIVO
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
-
+ Para máxima efectividad, traiga su dispositivo adentro y conéctelo a un buen adaptador USB-C y Wi-Fi semanalmente.<br><br>El Modo Firehose también puede funcionar mientras conduce si está conectado a un punto de acceso o tarjeta SIM ilimitada.<br><br><br><b>Preguntas Frecuentes</b><br><br><i>¿Importa cómo o dónde conduzco?</i> No, solo conduzca como lo haría normalmente.<br><br><i>¿Se extraen todos mis segmentos en el Modo Firehose?</i> No, seleccionamos selectivamente un subconjunto de sus segmentos.<br><br><i>¿Qué es un buen adaptador USB-C?</i> Cualquier cargador rápido de teléfono o portátil debería funcionar.<br><br><i>¿Importa qué software ejecuto?</i> Sí, solo el openpilot original (y forks específicos) pueden usarse para el entrenamiento.
<b>%n segment(s)</b> of your driving is in the training dataset so far.
-
-
-
+
+ <b>%n segmento</b> de tu conducción está en el conjunto de datos de entrenamiento hasta ahora.
+ <b>%n segmentos</b> de tu conducción están en el conjunto de datos de entrenamiento hasta ahora.
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVO</span>: conéctate a una red sin límite de datos
+
HudRenderer
@@ -924,7 +926,7 @@ Esto puede tardar un minuto.
Firehose
-
+ Firehose
@@ -1555,11 +1557,11 @@ Esto puede tardar un minuto.
Welcome to openpilot
-
+ Bienvenido a openpilot
You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing.
-
+ Debe aceptar los Términos y Condiciones para usar openpilot. Lea los términos más recientes en <span style='color: #465BEA;'>https://comma.ai/terms</span> antes de continuar.
@@ -1720,15 +1722,15 @@ Esto puede tardar un minuto.
WiFiPromptWidget
Open
-
+ Abrir
Maximize your training data uploads to improve openpilot's driving models.
-
+ Maximice sus cargas de datos de entrenamiento para mejorar los modelos de conducción de openpilot.
<span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>
-
+ <span style='font-family: "Noto Color Emoji";'>🔥</span> Modo Firehose <span style='font-family: Noto Color Emoji;'>🔥</span>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 2da3eabafe..6e012818b0 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -447,10 +447,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
ACTIVE
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
-
-
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
@@ -462,6 +458,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+
+
HudRenderer
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 9d20a1e7d2..858bf230c2 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -437,30 +437,32 @@
openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode.
-
+ openpilotは人間であるあなたの運転から学び、AI学習します。
+
+Firehoseモードを有効にすると、学習データを最大限アップロードし、openpilotの運転モデルを向上させることができます。より多くのデータはより大きなモデルとなり、Experimentalモードの精度を向上させます。
Firehose Mode: ACTIVE
-
+ Firehoseモード: 作動中
ACTIVE
-
-
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
-
+ 動作中
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
-
+ 最大の効果を得るためにはデバイスを屋内に持ち込み、大容量のUSB-C充電器とWi-Fiに毎週接続してください。<br><br>Firehoseモードは公衆無線LANや大容量契約のSIMカードに接続していれば、運転中でも動作します。<br><br><br><b>よくある質問(FAQ)</b><br><br><i>運転のやり方や走る場所は重要ですか？</i> いいえ、普段どおりに運転するだけで大丈夫です。<br><br><i>Firehoseモードでは全てのデータがアップロードされますか？</i> いいえ、アップロードするデータを選ぶことができます。<br><br><i>大容量のUSB-C充電器とは何ですか？</i> スマートフォンやノートパソコンを高速に充電できるものを使って下さい。<br><br><i>どのフォークを使うかは重要ですか？</i>はい、トレーニングには公式のopenpilot(および特定のフォーク)のみが使用できます。
<b>%n segment(s)</b> of your driving is in the training dataset so far.
-
-
+
+ あなたの運転の<b>%nセグメント</b>がこれまでのトレーニングデータに含まれています。
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+
+
HudRenderer
@@ -1371,7 +1373,7 @@ This may take up to a minute.
Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.
- 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。commaのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。
+ 警告: これはGitHubの設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外のGitHubユーザー名を入力しないでください。commaのスタッフがGitHubのユーザー名を追加するようお願いすることはありません。
ADD
@@ -1379,7 +1381,7 @@ This may take up to a minute.
Enter your GitHub username
- GitHub のユーザー名を入力してください
+ GitHubのユーザー名を入力してください
LOADING
@@ -1546,18 +1548,18 @@ This may take up to a minute.
Welcome to openpilot
-
+ openpilotへようこそ
You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing.
-
+ openpilotを使用するには利用規約に同意する必要があります。続行する前に最新の規約を以下でご確認ください: <span style='color: #465BEA;'>https://comma.ai/terms</span>
TogglesPanel
Enable openpilot
- openpilot を有効化
+ openpilotを有効化
Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.
@@ -1565,7 +1567,7 @@ This may take up to a minute.
Enable Lane Departure Warnings
- 車線逸脱警報機能の有効化
+ 車線逸脱警報の有効化
Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 8a7dc29fd3..d8ba4090c2 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -102,7 +102,7 @@
DeclinePage
You must accept the Terms and Conditions in order to use openpilot.
- openpilot을 사용하려면 이용약관에 동의해야 합니다.
+ 오픈파일럿을 사용하려면 이용약관에 동의해야 합니다.
Back
@@ -121,19 +121,19 @@
Longitudinal Maneuver Mode
- 롱컨 제어 모드
+ 가감속 제어 조작 모드
openpilot Longitudinal Control (Alpha)
- openpilot 가감속 제어 (알파)
+ 오픈파일럿 가감속 제어 (알파)
WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).
- 경고: openpilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다.
+ 경고: 오픈파일럿 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다.
On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.
- 이 차량에서 openpilot은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다.
+ 이 차량에서 오픈파일럿은 오픈파일럿 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. 오픈파일럿 가감속 제어로 전환하려면 이 기능을 활성화하세요. 오픈파일럿 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다.
Enable ADB
@@ -220,7 +220,7 @@
Review the rules, features, and limitations of openpilot
- openpilot의 규칙, 기능 및 제한 다시 확인
+ 오픈파일럿의 규칙, 기능 및 제한 다시 확인
Are you sure you want to review the training guide?
@@ -256,7 +256,7 @@
openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.
- openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다.
+ 오픈파일럿 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. 오픈파일럿은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다.
Your device is pointed %1° %2 and %3° %4.
@@ -439,7 +439,7 @@
Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode.
오픈파일럿은 여러분과 같은 사람이 운전하는 모습을 보면서 운전하는 법을 배웁니다.
-파이어호스 모드를 사용하면 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다.
+파이어호스 모드를 사용하면 학습 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다.
Firehose Mode: ACTIVE
@@ -447,22 +447,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
ACTIVE
- 활성화
-
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성</span>: 무제한 네트워크에 연결
+ 활성 상태
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
- 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?.<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 케이블은 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 openpilot의 특정 포크만 트레이닝에 사용할 수 있습니다.
+ 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 충전기와 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 네트워크에 연결된 경우 주행 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 충전기는 무엇인가요?</i> 휴대폰이나 노트북충전이 가능한 고속 충전기이면 괜찮습니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 오픈파일럿의 특정 포크만 트레이닝에 사용할 수 있습니다.
<b>%n segment(s)</b> of your driving is in the training dataset so far.
-
-
+
+ <b>%n 구간</b> 의 운전이 지금까지의 학습 데이터셋에 포함되어 있습니다.
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성 상태</span>: 무제한 네트워크에 연결 하세요
+
HudRenderer
@@ -586,11 +586,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.OffroadAlert
Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1
- 즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 openpilot이 활성화되지 않습니다.
+ 즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 오픈파일럿이 활성화되지 않습니다.
Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.
- 업데이트를 확인하려면 인터넷에 연결하세요. openpilot은 업데이트를 확인하기 위해 인터넷에 연결할 때까지 자동으로 시작되지 않습니다.
+ 업데이트 확인을 위해 인터넷 연결이 필요합니다. 오픈파일럿은 업데이트 확인을 위해 인터넷에 연결될 때까지 자동으로 시작되지 않습니다.
Unable to download updates
@@ -620,15 +620,15 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.
openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.
- openpilot이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.
+ 오픈파일럿이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 참여하세요.
openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.
- openpilot 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요.
+ 오픈파일럿 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요.
Device temperature too high. System cooling down before starting. Current internal component temperature: %1
- 장치의 온도가 너무 높습니다. 시작 전에 온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1
+ 장치 온도가 너무 높습니다. 시작하기 전에 시스템을 냉각하고 있습니다. 현재 내부 구성 요소 온도: %1
sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to "Settings" -> "Device" to exit Always Offroad mode.
@@ -781,7 +781,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.
Become a comma prime member at connect.comma.ai
- connect.comma.ai에 접속하여 comma prime 회원으로 등록하세요
+ connect.comma.ai에서 comma prime 사용자로 등록하세요
PRIME FEATURES:
@@ -797,7 +797,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.
1 year of drive storage
- 1년간 드라이브 로그 저장
+ 1년간 주행 로그 저장
Remote snapshots
@@ -827,7 +827,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.
openpilot
- openpilot
+ 오픈파일럿
%n minute(s) ago
@@ -1059,7 +1059,7 @@ This may take up to a minute.
openpilot
- openpilot
+ 오픈파일럿
Custom Software
@@ -1548,7 +1548,7 @@ This may take up to a minute.
Welcome to openpilot
- 오픈 파일럿에 오신 것을 환영합니다.
+ 오픈파일럿에 오신 것을 환영합니다.
You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing.
@@ -1559,11 +1559,11 @@ This may take up to a minute.
TogglesPanel
Enable openpilot
- openpilot 사용
+ 오픈파일럿 사용
Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.
- 어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 openpilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다.
+ 오픈파일럿 시스템을 사용하여 어댑티브 크루즈 컨트롤과 차로 유지 보조 기능을 활용하십시오. 이 기능을 사용할 때에는 항상 주의를 기울여야 합니다. 설정 변경은 차량을 재시동해야 적용됩니다.
Enable Lane Departure Warnings
@@ -1595,7 +1595,7 @@ This may take up to a minute.
When enabled, pressing the accelerator pedal will disengage openpilot.
- 활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다.
+ 활성화된 경우 가속 페달을 밟으면 오픈파일럿이 해제됩니다.
Experimental Mode
@@ -1603,11 +1603,11 @@ This may take up to a minute.
openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:
- openpilot은 기본적으로 <b>안정 모드</b>로 주행합니다. 실험 모드는 안정화되지 않은 <b>알파 수준의 기능</b>을 활성화합니다. 실험 모드의 기능은 아래와 같습니다:
+ 오픈파일럿은 기본적으로 <b>안정 모드</b>로 주행합니다. 실험 모드는 안정화되지 않은 <b>알파 수준의 기능</b>을 활성화합니다. 실험 모드의 기능은 아래와 같습니다:
Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.
- openpilot의 주행모델이 가감속을 제어합니다. openpilot은 신호등과 정지 표지판을 보고 멈추는 것을 포함하여 인간이 운전하는 것처럼 생각하고 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 최대 주행 속도로만 기능합니다. 이 기능은 알파 수준이므로 사용에 각별히 주의해야 합니다.
+ 주행모델이 가감속을 제어하도록 합니다. 오픈파일럿은 빨간불과 정지신호를 보고 정지하는것을 포함하여 사람이 운전하는 방식대로 작동하며 주행 모델이 속도를 결정하므로 설정 속도는 최대 제한 속도로만 작동합니다. 이는 알파 수준의 기능이며 오류가 발생할수있으니 사용에 주의해야 합니다.
New Driving Visualization
@@ -1615,11 +1615,11 @@ This may take up to a minute.
Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.
- 차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다.
+ 차량의 ACC가 가감속 제어에 사용되기 때문에, 이 차량에서는 실험 모드를 사용할 수 없습니다.
openpilot longitudinal control may come in a future update.
- openpilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.
+ 오픈파일럿 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.
Aggressive
@@ -1639,11 +1639,11 @@ This may take up to a minute.
An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.
- openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다.
+ 오픈파일럿 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다.
Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.
- 실험 모드를 사용하려면 openpilot E2E 가감속 제어 (알파) 토글을 활성화하세요.
+ 실험 모드를 사용하려면 오픈파일럿 E2E 가감속 제어 (알파) 토글을 활성화하세요.
End-to-End Longitudinal Control
@@ -1651,7 +1651,7 @@ This may take up to a minute.
Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.
- 표준 모드를 권장합니다. 공격적 모드의 openpilot은 선두 차량을 더 가까이 따라가고 가감속제어를 사용하여 더욱 공격적으로 움직입니다. 편안한 모드의 openpilot은 선두 차량으로부터 더 멀리 떨어져 있습니다. 지원되는 차량에서는 스티어링 휠 거리 버튼을 사용하여 이러한 특성을 순환할 수 있습니다.
+ 표준 모드를 권장합니다. 공격적 모드의 오픈파일럿은 선두 차량을 더 가까이 따라가고 가감속제어를 사용하여 더욱 공격적으로 움직입니다. 편안한 모드의 오픈파일럿은 선두 차량으로부터 더 멀리 떨어져 있습니다. 지원되는 차량에서는 차간거리 버튼을 사용하여 이러한 특성을 순환할 수 있습니다.
The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.
@@ -1663,7 +1663,7 @@ This may take up to a minute.
Enable driver monitoring even when openpilot is not engaged.
- openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.
+ 오픈파일럿이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.
Enable Dynamic Experimental Control
@@ -1717,7 +1717,7 @@ This may take up to a minute.
Maximize your training data uploads to improve openpilot's driving models.
- 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선하세요.
+ 오픈파일럿의 주행 모델 개선을 위해 학습 데이터 업로드를 최대화하세요.
<span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 5fc837513d..fc1727ad11 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -449,10 +449,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
ACTIVE
ATIVO
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INATIVO</span>: conecte-se a uma rede sem restrição <br> de dados
-
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.<br><br>O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.<br><br><br><b>Perguntas Frequentes</b><br><br><i>Importa como ou onde eu dirijo?</i> Não, basta dirigir normalmente.<br><br><i>Todos os meus segmentos são enviados no Modo Firehose?</i> Não, selecionamos apenas um subconjunto dos seus segmentos.<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento.
@@ -464,6 +460,10 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
<b>%n segmentos</b> da sua direção estão no conjunto de dados de treinamento até agora.
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+
+
HudRenderer
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index ca3effbb72..c7d55ff121 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -117,31 +117,31 @@
DeveloperPanel
Joystick Debug Mode
-
+ โหมดดีบักจอยสติ๊ก
Longitudinal Maneuver Mode
-
+ โหมดการควบคุมการเร่ง/เบรค
openpilot Longitudinal Control (Alpha)
- ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)
+ ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)
WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).
- คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด
+ คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด
On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.
- โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha
+ โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha
Enable ADB
-
+ เปิด ADB
ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.
-
+ ADB (Android Debug Bridge) อนุญาตให้เชื่อมต่ออุปกรณ์ของคุณผ่าน USB หรือผ่านเครือข่าย ดูข้อมูลเพิ่มเติมที่ https://docs.comma.ai/how-to/connect-to-comma
Hyundai: Enable Radar Tracks
@@ -431,36 +431,38 @@
FirehosePanel
🔥 Firehose Mode 🔥
-
+ 🔥 โหมดสายยางดับเพลิง 🔥
openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode.
-
+ openpilot เรียนรู้วิธีขับรถจากการเฝ้าดูการขับขี่ของมนุษย์เช่นคุณ
+
+โหมดสายยางดับเพลิงช่วยให้คุณอัปโหลดข้อมูลการฝึกฝนได้มากที่สุด เพื่อนำไปพัฒนาโมเดลการขับขี่ของ openpilot ข้อมูลที่มากขึ้นหมายถึงโมเดลที่ใหญ่ขึ้น และนั่นหมายถึงโหมดทดลองที่ดีขึ้น
Firehose Mode: ACTIVE
-
+ โหมดสายยางดับเพลิง: เปิดใช้งาน
ACTIVE
-
-
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
-
+ เปิดใช้งาน
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
-
+ เพื่อประสิทธิภาพสูงสุด ควรนำอุปกรณ์เข้ามาข้างใน เชื่อมต่อกับอะแดปเตอร์ USB-C คุณภาพดี และ Wi-Fi สัปดาห์ละครั้ง<br><br>โหมดสายยางดับเพลิงยังสามารถทำงานระหว่างขับรถได้ หากเชื่อมต่อกับฮอตสปอตหรือซิมการ์ดที่มีเน็ตไม่จำกัด<br><br><br><b>คำถามที่พบบ่อย</b><br><br><i>วิธีการขับหรือสถานที่ขับขี่มีผลหรือไม่?</i>ไม่มีผล แค่ขับขี่ตามปกติของคุณ<br><br><i>เซกเมนต์ทั้งหมดของฉันจะถูกดึงข้อมูลในโหมดสายยางดับเพลิงหรือไม่?</i>ไม่ใช่ เราจะเลือกดึงข้อมูลเพียงบางส่วนจากเซกเมนต์ของคุณ<br><br><i>อะแดปเตอร์ USB-C แบบไหนดี?</i>ที่ชาร์จเร็วของโทรศัพท์หรือแล็ปท็อปแบบใดก็ได้ สามารถใช้ได้<br><br><i>ซอฟต์แวร์ที่ใช้มีผลหรือไม่?</i>มีผล เฉพาะ openpilot ตัวหลัก (และ fork เฉพาะบางตัว) เท่านั้น ที่สามารถนำข้อมูลไปใช้ฝึกฝนโมเดลได้
<b>%n segment(s)</b> of your driving is in the training dataset so far.
-
-
+
+ มีการขับขี่ของคุณ <b>%n เซกเมนต์</b> อยู่ในชุดข้อมูลการฝึกฝนแล้วในขณะนี้
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>ไม่เปิดใช้งาน</span>: เชื่อมต่อกับเครือข่ายที่ไม่จำกัดข้อมูล
+
HudRenderer
@@ -664,11 +666,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.
Waiting to start
-
+ รอเริ่มทำงาน
System Unresponsive
-
+ ระบบไม่ตอบสนอง
@@ -691,7 +693,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.
Please connect to Wi-Fi to complete initial pairing
-
+ กรุณาเชื่อมต่อ Wi-Fi เพื่อทำการจับคู่ครั้งแรกให้เสร็จสิ้น
@@ -799,7 +801,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.
Remote snapshots
-
+ ภาพถ่ายระยะไกล
@@ -915,11 +917,11 @@ This may take up to a minute.
Developer
-
+ นักพัฒนา
Firehose
-
+ สายยางดับเพลิง
@@ -1546,11 +1548,11 @@ This may take up to a minute.
Welcome to openpilot
-
+ ยินดีต้อนรับสู่ openpilot
You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing.
-
+ คุณต้องยอมรับข้อกำหนดและเงื่อนไขเพื่อใช้งาน openpilot อ่านข้อกำหนดล่าสุดได้ที่ <span style='color: #465BEA;'>https://comma.ai/terms</span> ก่อนดำเนินการต่อ
@@ -1657,11 +1659,11 @@ This may take up to a minute.
Always-On Driver Monitoring
-
+ การเฝ้าระวังผู้ขับขี่ตลอดเวลา
Enable driver monitoring even when openpilot is not engaged.
-
+ เปิดใช้งานการเฝ้าระวังผู้ขับขี่แม้เมื่อ openpilot ไม่ได้เข้าควบคุมอยู่
Enable Dynamic Experimental Control
@@ -1711,15 +1713,15 @@ This may take up to a minute.
WiFiPromptWidget
Open
-
+ เปิด
Maximize your training data uploads to improve openpilot's driving models.
-
+ อัปโหลดข้อมูลการฝึกฝนให้ได้มากที่สุด เพื่อพัฒนาโมเดลการขับขี่ของ openpilot
<span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>
-
+ <span style='font-family: "Noto Color Emoji";'>🔥</span> โหมดสายยางดับเพลิง <span style='font-family: Noto Color Emoji;'>🔥</span>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index a03a63dfb7..049dd6ba01 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -447,10 +447,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
ACTIVE
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
-
-
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
@@ -461,6 +457,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+
+
HudRenderer
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 6b1bee2d9e..d60b8bec8d 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -449,10 +449,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
ACTIVE
激活中
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>未激活</span>：请连接至不限流量的网络
-
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
为了达到最佳效果，请每周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。<br><br>Firehose 模式在行驶时也能运行，但需连接到移动热点或使用不限流量的 SIM 卡。<br><br><br><b>常见问题</b><br><br><i>我开车的方式或地点有影响吗？</i>不会，请像平常一样驾驶即可。<br><br><i>Firehose 模式会上传所有的驾驶片段吗？</i>不会，我们会选择性地上传部分片段。<br><br><i>什么是好的 USB-C 充电器？</i>任何快速手机或笔记本电脑充电器都应该适用。<br><br><i>我使用的软件版本有影响吗？</i>有的，只有官方 openpilot（以及特定的分支）可以用于训练。
@@ -463,6 +459,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<b>目前已有 %n 段</b> 您的驾驶数据被纳入训练数据集。
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+
+
HudRenderer
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 17fa912d20..fcb11835f9 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -449,10 +449,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
ACTIVE
啟用中
-
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network
- <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>未啟用</span>：請連接至不限流量的網路
-
For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training.
為了達到最佳效果，請每週將您的裝置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。<br><br>訓練資料上傳模式在行駛時也能運作，但需連接至行動熱點或使用不限流量的 SIM 卡。<br><br><br><b>常見問題</b><br><br><i>我開車的方式或地點有影響嗎？</i> 不會，請像平常一樣駕駛即可。<br><br><i>訓練資料上傳模式會上傳所有的駕駛片段嗎？</i>不會，我們會選擇性地上傳部分片段。<br><br><i>什麼是好的 USB-C 充電器？</i>任何快速手機或筆電充電器都應該適用。<br><br><i>我使用的軟體版本有影響嗎？</i>有的，只有官方 openpilot（以及特定的分支）可以用於訓練。
@@ -463,6 +459,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<b>目前已有 %n 段</b> 您的駕駛數據被納入訓練資料集。
+
+ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network
+
+
HudRenderer
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index df728876d8..4bcdc9b83c 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -17,7 +17,7 @@ import time
import gzip
from dataclasses import asdict, dataclass, replace
from datetime import datetime
-from functools import partial
+from functools import partial, total_ordering
from queue import Queue
from typing import cast
from collections.abc import Callable
@@ -54,6 +54,7 @@ MAX_RETRY_COUNT = 30 # Try for at most 5 minutes if upload fails immediately
MAX_AGE = 31 * 24 * 3600 # seconds
WS_FRAME_SIZE = 4096
DEVICE_STATE_UPDATE_INTERVAL = 1.0 # in seconds
+DEFAULT_UPLOAD_PRIORITY = 99 # higher number = lower priority
NetworkType = log.DeviceState.NetworkType
@@ -69,13 +70,15 @@ class UploadFile:
url: str
headers: dict[str, str]
allow_cellular: bool
+ priority: int = DEFAULT_UPLOAD_PRIORITY
@classmethod
def from_dict(cls, d: dict) -> UploadFile:
- return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False))
+ return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False), d.get("priority", DEFAULT_UPLOAD_PRIORITY))
@dataclass
+@total_ordering
class UploadItem:
path: str
url: str
@@ -86,17 +89,28 @@ class UploadItem:
current: bool = False
progress: float = 0
allow_cellular: bool = False
+ priority: int = DEFAULT_UPLOAD_PRIORITY
@classmethod
def from_dict(cls, d: dict) -> UploadItem:
return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"],
- d["progress"], d["allow_cellular"])
+ d["progress"], d["allow_cellular"], d["priority"])
+
+ def __lt__(self, other):
+ if not isinstance(other, UploadItem):
+ return NotImplemented
+ return self.priority < other.priority
+
+ def __eq__(self, other):
+ if not isinstance(other, UploadItem):
+ return NotImplemented
+ return self.priority == other.priority
dispatcher["echo"] = lambda s: s
recv_queue: Queue[str] = queue.Queue()
send_queue: Queue[str] = queue.Queue()
-upload_queue: Queue[UploadItem] = queue.Queue()
+upload_queue: Queue[UploadItem] = queue.PriorityQueue()
low_priority_send_queue: Queue[str] = queue.Queue()
log_recv_queue: Queue[str] = queue.Queue()
cancelled_uploads: set[str] = set()
@@ -413,6 +427,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
created_at=int(time.time() * 1000),
id=None,
allow_cellular=file.allow_cellular,
+ priority=file.priority,
)
upload_id = hashlib.sha1(str(item).encode()).hexdigest()
item = replace(item, id=upload_id)
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index e16e73a7ea..dd82325815 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -76,7 +76,7 @@ class TestAthenadMethods:
self.params.put(k, v)
self.params.put_bool("GsmMetered", True)
- athenad.upload_queue = queue.Queue()
+ athenad.upload_queue = queue.PriorityQueue()
athenad.cur_upload_items.clear()
athenad.cancelled_uploads.clear()
@@ -321,6 +321,26 @@ class TestAthenadMethods:
assert len(items) == 1
assert items[0]['current']
+ def test_list_upload_queue_priority(self):
+ priorities = (25, 50, 99, 75, 0)
+
+ for i in priorities:
+ fn = f'qlog_{i}.zst'
+ fp = self._create_file(fn)
+ item = athenad.UploadItem(
+ path=fp,
+ url=f"http://localhost:44444/{fn}",
+ headers={},
+ created_at=int(time.time()*1000),
+ id='',
+ allow_cellular=True,
+ priority=i
+ )
+ athenad.upload_queue.put_nowait(item)
+
+ for i in sorted(priorities):
+ assert athenad.upload_queue.get_nowait().priority == i
+
def test_list_upload_queue(self):
item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
created_at=int(time.time()*1000), id='id', allow_cellular=True)
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index d12dbb2444..4535078771 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -19,7 +19,6 @@
#include "system/camerad/cameras/ife.h"
#include "system/camerad/cameras/spectra.h"
#include "system/camerad/cameras/bps_blobs.h"
-#include "third_party/linux/include/msm_media_info.h"
// ************** low level camera helpers ****************
diff --git a/system/camerad/sensors/ox03c10_registers.h b/system/camerad/sensors/ox03c10_registers.h
index 5c6282942b..bb7a1c5dd6 100644
--- a/system/camerad/sensors/ox03c10_registers.h
+++ b/system/camerad/sensors/ox03c10_registers.h
@@ -65,7 +65,6 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = {
{0x3008, 0x80}, // io_pad_sel
// FSIN (frame sync) with external pulses
- {0x3822, 0x33}, // wait for pulse before first frame
{0x3009, 0x2},
{0x3015, 0x2},
{0x383E, 0x80},
@@ -73,6 +72,9 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = {
{0x3882, 0x8}, {0x3883, 0x0D},
{0x3836, 0x1F}, {0x3837, 0x40},
+ // causes issues on some devices
+ //{0x3822, 0x33}, // wait for pulse before first frame
+
{0x3892, 0x44},
{0x3823, 0x41},
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 4d15e76b0e..3c88e82420 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -366,35 +366,35 @@
},
{
"name": "userdata_90",
- "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-17f46ba0d0eec10cf14804c84d9bcf4f6fa864074f1b90ff2fb4873399d64b1a.img.xz",
- "hash": "1442ae218daff960783bc493a32dd489fa787e4025c64fa3132f48b1e627647f",
- "hash_raw": "17f46ba0d0eec10cf14804c84d9bcf4f6fa864074f1b90ff2fb4873399d64b1a",
+ "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf.img.xz",
+ "hash": "4a48581a9e2e416ae3b695d1fca7a056eeb8b12e7819fee16a3419ba56662ca1",
+ "hash_raw": "0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf",
"size": 96636764160,
"sparse": true,
"full_check": true,
"has_ab": false,
- "ondevice_hash": "a64fea9c3a7bec11b850a55d50ceb30a032742c90aadf0ce35cdbef9349bebba"
+ "ondevice_hash": "51b690c08c7876d5f6f81c36cdfc64bd7e2326986329923b4eb391dbeb45ced1"
},
{
"name": "userdata_89",
- "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-69b2404839f87b1de5c05766550ca0217d5ed566c9f2ea41c46b5a301540a3ac.img.xz",
- "hash": "332e6cf5c221690a01ebfd0582420e039c7796a8fb2d499e44a8b657dffe4af2",
- "hash_raw": "69b2404839f87b1de5c05766550ca0217d5ed566c9f2ea41c46b5a301540a3ac",
+ "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c.img.xz",
+ "hash": "7eca201ce9e6440b389a469eeffe635df50c81c18a7b6af9b73dfe462af7c174",
+ "hash_raw": "5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c",
"size": 95563022336,
"sparse": true,
"full_check": true,
"has_ab": false,
- "ondevice_hash": "c560c76007fd8997e01e516ab16ff445048945a13bf830bb2a4c7f6e9d2fe5f6"
+ "ondevice_hash": "2c25fb92c7c7085783b3ea1f96d3919acefafe3b4897529ced30540fdb7dc772"
},
{
"name": "userdata_30",
- "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-ffc34d8753520e684448185db801c05bb81e23c54a499cc40a2e38b7009cdf36.img.xz",
- "hash": "8bfb1fdec9c8f96c97bcce1efbc7d502447bdb3b481cc408b24b5feef66839fd",
- "hash_raw": "ffc34d8753520e684448185db801c05bb81e23c54a499cc40a2e38b7009cdf36",
+ "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d.img.xz",
+ "hash": "c0866a0a8e4eedb9f0f1a4d853ace9c83038c955f88e8bfffbaf441dc103c1a6",
+ "hash_raw": "cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d",
"size": 32212254720,
"sparse": true,
"full_check": true,
"has_ab": false,
- "ondevice_hash": "8f840157d73fa4469aa650d668e046c9750304af84248ab83453cbd285918859"
+ "ondevice_hash": "78086497dd01efd87b491fe16a9abd382f14ec7366c8eb7acfe0ec0c5d192df6"
}
-]
\ No newline at end of file
+]
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index e1b9845c4c..669889a2ae 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -33,7 +33,7 @@ class Proc:
PROCS = [
Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
- Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
+ Proc(['dmonitoringmodeld'], 1.4, msgs=['driverStateV2']),
Proc(['encoderd'], 0.23, msgs=[]),
]
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
index 22c99501f3..728f3b15fa 100644
--- a/system/ubloxd/ublox_msg.cc
+++ b/system/ubloxd/ublox_msg.cc
@@ -476,6 +476,10 @@ kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) {
svs[i].setSvId(svs_data[i]->sv_id());
svs[i].setGnssId(svs_data[i]->gnss_id());
svs[i].setFlagsBitfield(svs_data[i]->flags());
+ svs[i].setCno(svs_data[i]->cno());
+ svs[i].setElevationDeg(svs_data[i]->elev());
+ svs[i].setAzimuthDeg(svs_data[i]->azim());
+ svs[i].setPseudorangeResidual(svs_data[i]->pr_res() * 0.1);
}
return capnp::messageToFlatArray(msg_builder);
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index c7b7a36e5d..fd1ad52068 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -64,11 +64,16 @@ class GuiApplication:
return texture
def close(self):
+ if not rl.is_window_ready():
+ return
+
for texture in self._textures:
rl.unload_texture(texture)
+ self._textures = []
for font in self._fonts.values():
rl.unload_font(font)
+ self._fonts = []
rl.close_window()
@@ -120,7 +125,6 @@ class GuiApplication:
rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE)
rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK))
rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR))
- rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255)))
rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))
def _monitor_fps(self):
diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index 639de26744..9809307474 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -1,8 +1,7 @@
#!/usr/bin/env python3
import pyray as rl
import os
-import select
-import sys
+import threading
from openpilot.common.basedir import BASEDIR
from openpilot.system.ui.lib.application import gui_app
@@ -20,57 +19,57 @@ def clamp(value, min_value, max_value):
return max(min(value, max_value), min_value)
-def check_input_non_blocking():
- if sys.stdin in select.select([sys.stdin], [], [], 0)[0]:
- return sys.stdin.readline().strip()
- return ""
+class Spinner:
+ def __init__(self):
+ self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
+ self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
+ self._rotation = 0.0
+ self._text: str = ""
+ self._lock = threading.Lock()
+ def set_text(self, text: str) -> None:
+ with self._lock:
+ self._text = text
-def main():
- gui_app.init_window("Spinner")
+ def render(self):
+ center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
+ spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
+ comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
- # Load textures
- comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
- spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
-
- # Initial values
- rotation = 0.0
- user_input = ""
- center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
- spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
- comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
-
- for _ in gui_app.render():
fps = rl.get_fps()
if fps > 0:
degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
- rotation = (rotation + degrees_per_frame) % 360.0
+ self._rotation = (self._rotation + degrees_per_frame) % 360.0
# Draw rotating spinner and static comma logo
- rl.draw_texture_pro(spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
+ rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
rl.Rectangle(center.x, center.y, TEXTURE_SIZE, TEXTURE_SIZE),
- spinner_origin, rotation, rl.WHITE)
- rl.draw_texture_v(comma_texture, comma_position, rl.WHITE)
-
- # Read user input
- if input_str := check_input_non_blocking():
- user_input = input_str
+ spinner_origin, self._rotation, rl.WHITE)
+ rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
# Display progress bar or text based on user input
- if user_input:
+ text = None
+ with self._lock:
+ text = self._text
+
+ if text:
y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
- if user_input.isdigit():
- progress = clamp(int(user_input), 0, 100)
+ if text.isdigit():
+ progress = clamp(int(text), 0, 100)
bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY)
bar.width *= progress / 100.0
rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE)
else:
- text_size = rl.measure_text_ex(gui_app.font(), user_input, FONT_SIZE, 1.0)
- rl.draw_text_ex(gui_app.font(), user_input,
+ text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
+ rl.draw_text_ex(gui_app.font(), text,
rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
if __name__ == "__main__":
- main()
+ gui_app.init_window("Spinner")
+ spinner = Spinner()
+ spinner.set_text("Spinner text")
+ for _ in gui_app.render():
+ spinner.render()
diff --git a/system/ui/text.py b/system/ui/text.py
index 33299605d6..97d0ebcce9 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -1,7 +1,5 @@
#!/usr/bin/env python3
-import sys
import pyray as rl
-
from openpilot.system.hardware import HARDWARE
from openpilot.system.ui.lib.button import gui_button, ButtonStyle
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
@@ -33,32 +31,36 @@ def wrap_text(text, font_size, max_width):
return lines
+class TextWindow:
+ def __init__(self, text: str):
+ self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
+ self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20)
+ self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT)
+ self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True)
-def main():
- gui_app.init_window("Text")
-
- text_content = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT
-
- textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
- wrapped_lines = wrap_text(text_content, FONT_SIZE, textarea_rect.width - 20)
- content_rect = rl.Rectangle(0, 0, textarea_rect.width - 20, len(wrapped_lines) * LINE_HEIGHT)
- scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True)
-
- for _ in gui_app.render():
- scroll = scroll_panel.handle_scroll(textarea_rect, content_rect)
-
- rl.begin_scissor_mode(int(textarea_rect.x), int(textarea_rect.y), int(textarea_rect.width), int(textarea_rect.height))
- for i, line in enumerate(wrapped_lines):
- position = rl.Vector2(textarea_rect.x + scroll.x, textarea_rect.y + scroll.y + i * LINE_HEIGHT)
- if position.y + LINE_HEIGHT < textarea_rect.y or position.y > textarea_rect.y + textarea_rect.height:
+ def render(self):
+ scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect)
+ rl.begin_scissor_mode(int(self._textarea_rect.x), int(self._textarea_rect.y), int(self._textarea_rect.width), int(self._textarea_rect.height))
+ for i, line in enumerate(self._wrapped_lines):
+ position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
+ if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
continue
rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
rl.end_scissor_mode()
button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
- if gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT):
+ ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
+ if ret:
HARDWARE.reboot()
+ return ret
+
+
+def show_text_in_window(text: str):
+ gui_app.init_window("Text")
+ text_window = TextWindow(text)
+ for _ in gui_app.render():
+ text_window.render()
if __name__ == "__main__":
- main()
+ show_text_in_window(DEMO_TEXT)
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index 74d034d505..11d17e587e 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -28,7 +28,7 @@ class Keyboard:
key = self.kb.getch().lower()
self.cancel = False
if key == 'r':
- self.axes_values = {ax: 0. for ax in self.axes_values}
+ self.axes_values = dict.fromkeys(self.axes_values, 0.)
elif key == 'c':
self.cancel = True
elif key in self.axes_map:
@@ -65,7 +65,7 @@ class Joystick:
try:
joystick_event = get_gamepad()[0]
except (OSError, UnpluggedError):
- self.axes_values = {ax: 0. for ax in self.axes_values}
+ self.axes_values = dict.fromkeys(self.axes_values, 0.)
return False
event = (joystick_event.code, joystick_event.state)
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 9fe73825a8..34d3e5ea9f 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -300,11 +300,11 @@ class LogReader:
def _run_on_segment(self, func, i):
return func(self._get_lr(i))
- def run_across_segments(self, num_processes, func, desc=None):
+ def run_across_segments(self, num_processes, func, disable_tqdm=False, desc=None):
with multiprocessing.Pool(num_processes) as pool:
ret = []
num_segs = len(self.logreader_identifiers)
- for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs, desc=desc):
+ for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs, disable=disable_tqdm, desc=desc):
ret.extend(p)
return ret
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index fe8bd3ea84..b2a11dc77b 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -16,8 +16,7 @@ CHUNK_SIZE = 1000 * K
logging.getLogger("urllib3").setLevel(logging.WARNING)
def hash_256(link: str) -> str:
- hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest())
- return hsh
+ return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()
class URLFileException(Exception):
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index c626ec4561..d23052d0f0 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -28,6 +28,8 @@ if [[ $(command -v brew) == "" ]]; then
echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
eval "$(/opt/homebrew/bin/brew shellenv)"
fi
+else
+ brew up
fi
brew bundle --file=- <<-EOS
diff --git a/tools/plotjuggler/layouts/gps.xml b/tools/plotjuggler/layouts/gps.xml
new file mode 100644
index 0000000000..8fd3b53f93
--- /dev/null
+++ b/tools/plotjuggler/layouts/gps.xml
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
index 5a0a7625e0..606df03611 100644
--- a/tools/plotjuggler/layouts/torque-controller.xml
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -150,44 +150,44 @@
-
-
+
+
-
+
-
+
-
+
-
+
-
+
-
+
diff --git a/uv.lock b/uv.lock
index fe95157eb2..7b13fce830 100644
--- a/uv.lock
+++ b/uv.lock
@@ -12,16 +12,16 @@ resolution-markers = [
[[package]]
name = "aiohappyeyeballs"
-version = "2.5.0"
+version = "2.6.1"
source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a2/0c/458958007041f4b4de2d307e6b75d9e7554dad0baf26fe7a48b741aac126/aiohappyeyeballs-2.5.0.tar.gz", hash = "sha256:18fde6204a76deeabc97c48bdd01d5801cfda5d6b9c8bbeb1aaaee9d648ca191", size = 22494 }
+sdist = { url = "https://files.pythonhosted.org/packages/26/30/f84a107a9c4331c14b2b586036f40965c128aa4fee4dda5d3d51cb14ad54/aiohappyeyeballs-2.6.1.tar.gz", hash = "sha256:c3f9d0113123803ccadfdf3f0faa505bc78e6a72d1cc4806cbd719826e943558", size = 22760 }
wheels = [
- { url = "https://files.pythonhosted.org/packages/1b/9a/e4886864ce06e1579bd428208127fbdc0d62049c751e4e9e3b509c0059dc/aiohappyeyeballs-2.5.0-py3-none-any.whl", hash = "sha256:0850b580748c7071db98bffff6d4c94028d0d3035acc20fd721a0ce7e8cac35d", size = 15128 },
+ { url = "https://files.pythonhosted.org/packages/0f/15/5bf3b99495fb160b63f95972b81750f18f7f4e02ad051373b669d17d44f2/aiohappyeyeballs-2.6.1-py3-none-any.whl", hash = "sha256:f349ba8f4b75cb25c99c5c2d84e997e485204d2902a9597802b0371f09331fb8", size = 15265 },
]
[[package]]
name = "aiohttp"
-version = "3.11.13"
+version = "3.11.14"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "aiohappyeyeballs" },
@@ -32,40 +32,40 @@ dependencies = [
{ name = "propcache" },
{ name = "yarl" },
]
-sdist = { url = "https://files.pythonhosted.org/packages/b3/3f/c4a667d184c69667b8f16e0704127efc5f1e60577df429382b4d95fd381e/aiohttp-3.11.13.tar.gz", hash = "sha256:8ce789231404ca8fff7f693cdce398abf6d90fd5dae2b1847477196c243b1fbb", size = 7674284 }
+sdist = { url = "https://files.pythonhosted.org/packages/6c/96/91e93ae5fd04d428c101cdbabce6c820d284d61d2614d00518f4fa52ea24/aiohttp-3.11.14.tar.gz", hash = "sha256:d6edc538c7480fa0a3b2bdd705f8010062d74700198da55d16498e1b49549b9c", size = 7676994 }
wheels = [
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- { url = "https://files.pythonhosted.org/packages/d9/1c/56906111ac9d4dab4baab43c89d35d5de1dbb38085150257895005b08bef/aiohttp-3.11.13-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f55d0f242c2d1fcdf802c8fabcff25a9d85550a4cf3a9cf5f2a6b5742c992839", size = 455968 },
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- { name = "pyobjc-framework-cinematic", marker = "platform_release >= '23.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-classkit", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-cloudkit", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-cocoa", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-collaboration", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-colorsync", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-contacts", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-contactsui", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coreaudio", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coreaudiokit", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-corebluetooth", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coredata", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-corehaptics", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-corelocation", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coremedia", marker = "platform_release >= '11.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coremediaio", marker = "platform_release >= '11.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coremidi", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coreml", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coremotion", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coreservices", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-corespotlight", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-coretext", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-corewlan", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-cryptotokenkit", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-datadetection", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-devicecheck", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-devicediscoveryextension", marker = "platform_release >= '24.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-dictionaryservices", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-discrecording", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-discrecordingui", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-diskarbitration", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-dvdplayback", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-eventkit", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-exceptionhandling", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-executionpolicy", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-extensionkit", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-externalaccessory", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-fileprovider", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-fileproviderui", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-findersync", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-fsevents", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-gamecenter", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-gamecontroller", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-gamekit", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-gameplaykit", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-healthkit", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-imagecapturecore", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-inputmethodkit", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-installerplugins", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-instantmessage", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-intents", marker = "platform_release >= '16.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-intentsui", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-iobluetooth", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-iobluetoothui", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-iosurface", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-ituneslibrary", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-kernelmanagement", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-latentsemanticmapping", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-launchservices", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-libdispatch", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-libxpc", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-linkpresentation", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-localauthentication", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-localauthenticationembeddedui", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-mailkit", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-mapkit", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-mediaaccessibility", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-mediaextension", marker = "platform_release >= '24.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-medialibrary", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-mediaplayer", marker = "platform_release >= '16.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-mediatoolbox", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-metal", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-metalfx", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-metalkit", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-metalperformanceshaders", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-metalperformanceshadersgraph", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-metrickit", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-mlcompute", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-modelio", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-multipeerconnectivity", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-naturallanguage", marker = "platform_release >= '18.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-netfs", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-network", marker = "platform_release >= '18.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-networkextension", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-notificationcenter", marker = "platform_release >= '14.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-opendirectory", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-osakit", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-oslog", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-passkit", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-pencilkit", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-phase", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-photos", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-photosui", marker = "platform_release >= '15.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-preferencepanes", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-pushkit", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-quartz", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-quicklookthumbnailing", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-replaykit", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-safariservices", marker = "platform_release >= '16.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-safetykit", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-scenekit", marker = "platform_release >= '11.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-screencapturekit", marker = "platform_release >= '21.4' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-screensaver", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-screentime", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-scriptingbridge", marker = "platform_release >= '9.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-searchkit", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-security", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-securityfoundation", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-securityinterface", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-sensitivecontentanalysis", marker = "platform_release >= '23.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-servicemanagement", marker = "platform_release >= '10.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-sharedwithyou", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-sharedwithyoucore", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-shazamkit", marker = "platform_release >= '21.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-social", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-soundanalysis", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-speech", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-spritekit", marker = "platform_release >= '13.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-storekit", marker = "platform_release >= '11.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-symbols", marker = "platform_release >= '23.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-syncservices", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-systemconfiguration", marker = "sys_platform == 'darwin'" },
- { name = "pyobjc-framework-systemextensions", marker = "platform_release >= '19.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-threadnetwork", marker = "platform_release >= '22.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-uniformtypeidentifiers", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-usernotifications", marker = "platform_release >= '18.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-usernotificationsui", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-videosubscriberaccount", marker = "platform_release >= '18.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-videotoolbox", marker = "platform_release >= '12.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-virtualization", marker = "platform_release >= '20.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-vision", marker = "platform_release >= '17.0' and sys_platform == 'darwin'" },
- { name = "pyobjc-framework-webkit", marker = "sys_platform == 'darwin'" },
+ { name = "pyobjc-core" },
+ { name = "pyobjc-framework-accessibility", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
+ { name = "pyobjc-framework-addressbook" },
+ { name = "pyobjc-framework-adservices", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0'" },
+ { name = "pyobjc-framework-applescriptkit" },
+ { name = "pyobjc-framework-applescriptobjc", marker = "platform_release >= '10.0'" },
+ { name = "pyobjc-framework-applicationservices" },
+ { name = "pyobjc-framework-apptrackingtransparency", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-audiovideobridging", marker = "platform_release >= '12.0'" },
+ { name = "pyobjc-framework-authenticationservices", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-automator" },
+ { name = "pyobjc-framework-avfoundation", marker = "platform_release >= '11.0'" },
+ { name = "pyobjc-framework-avkit", marker = "platform_release >= '13.0'" },
+ { name = "pyobjc-framework-avrouting", marker = "platform_release >= '22.0'" },
+ { name = "pyobjc-framework-backgroundassets", marker = "platform_release >= '22.0'" },
+ { name = "pyobjc-framework-browserenginekit", marker = "platform_release >= '23.4'" },
+ { name = "pyobjc-framework-businesschat", marker = "platform_release >= '18.0'" },
+ { name = "pyobjc-framework-calendarstore", marker = "platform_release >= '9.0'" },
+ { name = "pyobjc-framework-callkit", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-carbon" },
+ { name = "pyobjc-framework-cfnetwork" },
+ { name = "pyobjc-framework-cinematic", marker = "platform_release >= '23.0'" },
+ { name = "pyobjc-framework-classkit", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-cloudkit", marker = "platform_release >= '14.0'" },
+ { name = "pyobjc-framework-cocoa" },
+ { name = "pyobjc-framework-collaboration", marker = "platform_release >= '9.0'" },
+ { name = "pyobjc-framework-colorsync", marker = "platform_release >= '17.0'" },
+ { name = "pyobjc-framework-contacts", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-contactsui", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-coreaudio" },
+ { name = "pyobjc-framework-coreaudiokit" },
+ { name = "pyobjc-framework-corebluetooth", marker = "platform_release >= '14.0'" },
+ { name = "pyobjc-framework-coredata" },
+ { name = "pyobjc-framework-corehaptics", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-corelocation", marker = "platform_release >= '10.0'" },
+ { name = "pyobjc-framework-coremedia", marker = "platform_release >= '11.0'" },
+ { name = "pyobjc-framework-coremediaio", marker = "platform_release >= '11.0'" },
+ { name = "pyobjc-framework-coremidi" },
+ { name = "pyobjc-framework-coreml", marker = "platform_release >= '17.0'" },
+ { name = "pyobjc-framework-coremotion", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-coreservices" },
+ { name = "pyobjc-framework-corespotlight", marker = "platform_release >= '17.0'" },
+ { name = "pyobjc-framework-coretext" },
+ { name = "pyobjc-framework-corewlan", marker = "platform_release >= '10.0'" },
+ { name = "pyobjc-framework-cryptotokenkit", marker = "platform_release >= '14.0'" },
+ { name = "pyobjc-framework-datadetection", marker = "platform_release >= '21.0'" },
+ { name = "pyobjc-framework-devicecheck", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-devicediscoveryextension", marker = "platform_release >= '24.0'" },
+ { name = "pyobjc-framework-dictionaryservices", marker = "platform_release >= '9.0'" },
+ { name = "pyobjc-framework-discrecording" },
+ { name = "pyobjc-framework-discrecordingui" },
+ { name = "pyobjc-framework-diskarbitration" },
+ { name = "pyobjc-framework-dvdplayback" },
+ { name = "pyobjc-framework-eventkit", marker = "platform_release >= '12.0'" },
+ { name = "pyobjc-framework-exceptionhandling" },
+ { name = "pyobjc-framework-executionpolicy", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-extensionkit", marker = "platform_release >= '22.0'" },
+ { name = "pyobjc-framework-externalaccessory", marker = "platform_release >= '17.0'" },
+ { name = "pyobjc-framework-fileprovider", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-fileproviderui", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-findersync", marker = "platform_release >= '14.0'" },
+ { name = "pyobjc-framework-fsevents", marker = "platform_release >= '9.0'" },
+ { name = "pyobjc-framework-gamecenter", marker = "platform_release >= '12.0'" },
+ { name = "pyobjc-framework-gamecontroller", marker = "platform_release >= '13.0'" },
+ { name = "pyobjc-framework-gamekit", marker = "platform_release >= '12.0'" },
+ { name = "pyobjc-framework-gameplaykit", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-healthkit", marker = "platform_release >= '22.0'" },
+ { name = "pyobjc-framework-imagecapturecore", marker = "platform_release >= '10.0'" },
+ { name = "pyobjc-framework-inputmethodkit", marker = "platform_release >= '9.0'" },
+ { name = "pyobjc-framework-installerplugins" },
+ { name = "pyobjc-framework-instantmessage", marker = "platform_release >= '9.0'" },
+ { name = "pyobjc-framework-intents", marker = "platform_release >= '16.0'" },
+ { name = "pyobjc-framework-intentsui", marker = "platform_release >= '21.0'" },
+ { name = "pyobjc-framework-iobluetooth" },
+ { name = "pyobjc-framework-iobluetoothui" },
+ { name = "pyobjc-framework-iosurface", marker = "platform_release >= '10.0'" },
+ { name = "pyobjc-framework-ituneslibrary", marker = "platform_release >= '10.0'" },
+ { name = "pyobjc-framework-kernelmanagement", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-latentsemanticmapping" },
+ { name = "pyobjc-framework-launchservices" },
+ { name = "pyobjc-framework-libdispatch", marker = "platform_release >= '12.0'" },
+ { name = "pyobjc-framework-libxpc", marker = "platform_release >= '12.0'" },
+ { name = "pyobjc-framework-linkpresentation", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-localauthentication", marker = "platform_release >= '14.0'" },
+ { name = "pyobjc-framework-localauthenticationembeddedui", marker = "platform_release >= '21.0'" },
+ { name = "pyobjc-framework-mailkit", marker = "platform_release >= '21.0'" },
+ { name = "pyobjc-framework-mapkit", marker = "platform_release >= '13.0'" },
+ { name = "pyobjc-framework-mediaaccessibility", marker = "platform_release >= '13.0'" },
+ { name = "pyobjc-framework-mediaextension", marker = "platform_release >= '24.0'" },
+ { name = "pyobjc-framework-medialibrary", marker = "platform_release >= '13.0'" },
+ { name = "pyobjc-framework-mediaplayer", marker = "platform_release >= '16.0'" },
+ { name = "pyobjc-framework-mediatoolbox", marker = "platform_release >= '13.0'" },
+ { name = "pyobjc-framework-metal", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-metalfx", marker = "platform_release >= '22.0'" },
+ { name = "pyobjc-framework-metalkit", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-metalperformanceshaders", marker = "platform_release >= '17.0'" },
+ { name = "pyobjc-framework-metalperformanceshadersgraph", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-metrickit", marker = "platform_release >= '21.0'" },
+ { name = "pyobjc-framework-mlcompute", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-modelio", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-multipeerconnectivity", marker = "platform_release >= '14.0'" },
+ { name = "pyobjc-framework-naturallanguage", marker = "platform_release >= '18.0'" },
+ { name = "pyobjc-framework-netfs", marker = "platform_release >= '10.0'" },
+ { name = "pyobjc-framework-network", marker = "platform_release >= '18.0'" },
+ { name = "pyobjc-framework-networkextension", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-notificationcenter", marker = "platform_release >= '14.0'" },
+ { name = "pyobjc-framework-opendirectory", marker = "platform_release >= '10.0'" },
+ { name = "pyobjc-framework-osakit" },
+ { name = "pyobjc-framework-oslog", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-passkit", marker = "platform_release >= '20.0'" },
+ { name = "pyobjc-framework-pencilkit", marker = "platform_release >= '19.0'" },
+ { name = "pyobjc-framework-phase", marker = "platform_release >= '21.0'" },
+ { name = "pyobjc-framework-photos", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-photosui", marker = "platform_release >= '15.0'" },
+ { name = "pyobjc-framework-preferencepanes" },
+ { name = "pyobjc-framework-pushkit", marker = "platform_release >= '19.0'" },
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