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selfdrived cleanup (#33497) 

* selfdrived cleanup

* lil more

* always alert

* bring this back
This commit is contained in:
Adeeb Shihadeh 2024-09-06 18:21:41 -07:00 committed by GitHub
parent e04455cbaa
commit 590e217368
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GPG Key ID: B5690EEEBB952194
16 changed files with 31 additions and 142 deletions
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10
cereal/car.capnp
View File

@ -87,7 +87,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
startupNoCar @76;
startupNoControl @77;
startupMaster @78;
startupNoFw @104;
fcw @79;
steerSaturated @80;
belowEngageSpeed @84;
@ -102,10 +101,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
dashcamMode @96;
selfdriveInitializing @98;
usbError @99;
roadCameraError @100;
driverCameraError @101;
wideRoadCameraError @102;
highCpuUsage @105;
cruiseMismatch @106;
lkasDisabled @107;
canBusMissing @111;
@ -147,6 +142,11 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
brakeUnavailableDEPRECATED @2;
plannerErrorDEPRECATED @32;
gpsMalfunctionDEPRECATED @94;
roadCameraErrorDEPRECATED @100;
driverCameraErrorDEPRECATED @101;
wideRoadCameraErrorDEPRECATED @102;
highCpuUsageDEPRECATED @105;
startupNoFwDEPRECATED @104;
}
}

7
selfdrive/selfdrived/alertmanager.py
View File

@ -6,7 +6,7 @@ from dataclasses import dataclass
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.selfdrive.selfdrived.events import Alert
from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
@ -31,10 +31,11 @@ class AlertEntry:
def active(self, frame: int) -> bool:
return frame <= self.end_frame
class AlertManager:
def __init__(self):
self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
self.current_alert: Alert | None = None
self.current_alert = EmptyAlert
def add_many(self, frame: int, alerts: list[Alert]) -> None:
for alert in alerts:
@ -59,4 +60,4 @@ class AlertManager:
if v.active(frame) and greater:
ae = v
self.current_alert = ae.alert
self.current_alert = ae.alert if ae.alert is not None else EmptyAlert

4
selfdrive/selfdrived/alerts_offroad.json
View File

@ -41,10 +41,6 @@
"text": "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.",
"severity": 0
},
"Offroad_NoFirmware": {
"text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.",
"severity": 0
},
"Offroad_Recalibration": {
"text": "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.",
"severity": 0

34
selfdrive/selfdrived/events.py
View File

@ -141,6 +141,8 @@ class Alert:
return False
return self.priority > alert2.priority
EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
VisualAlert.none, AudibleAlert.none, 0)
class NoEntryAlert(Alert):
def __init__(self, alert_text_2: str,
@ -355,23 +357,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
ET.PERMANENT: startup_master_alert,
},
# Car is recognized, but marked as dashcam only
EventName.startupNoControl: {
ET.PERMANENT: StartupAlert("Dashcam mode"),
ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
},
# Car is not recognized
EventName.startupNoCar: {
ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
},
EventName.startupNoFw: {
ET.PERMANENT: StartupAlert("Car Unrecognized",
"Check comma power connections",
alert_status=AlertStatus.userPrompt),
},
EventName.dashcamMode: {
ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
priority=Priority.LOWEST),
@ -822,12 +816,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
},
EventName.highCpuUsage: {
#ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"),
#ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
ET.NO_ENTRY: high_cpu_usage_alert,
},
EventName.accFaulted: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
@ -844,24 +832,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
},
EventName.roadCameraError: {
ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road",
duration=1.,
creation_delay=30.),
},
EventName.wideRoadCameraError: {
ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road Fisheye",
duration=1.,
creation_delay=30.),
},
EventName.driverCameraError: {
ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Driver",
duration=1.,
creation_delay=30.),
},
# Sometimes the USB stack on the device can get into a bad state
# causing the connection to the panda to be lost
EventName.usbError: {

72
selfdrive/selfdrived/selfdrived.py
View File

@ -9,7 +9,6 @@ from cereal import car, log
from msgq.visionipc import VisionIpcClient, VisionStreamType
from openpilot.common.git import get_short_branch
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
from openpilot.common.swaglog import cloudlog
@ -37,23 +36,6 @@ ButtonType = car.CarState.ButtonEvent.Type
SafetyModel = car.CarParams.SafetyModel
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}
def get_startup_event(car_recognized, controller_available, fw_seen):
build_metadata = get_build_metadata()
if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
event = EventName.startup
else:
event = EventName.startupMaster
if not car_recognized:
if fw_seen:
event = EventName.startupNoCar
else:
event = EventName.startupNoFw
elif car_recognized and not controller_available:
event = EventName.startupNoControl
return event
class SelfdriveD:
@ -61,7 +43,7 @@ class SelfdriveD:
self.params = Params()
# Ensure the current branch is cached, otherwise the first cycle lags
self.branch = get_short_branch()
build_metadata = get_build_metadata()
cloudlog.info("selfdrived is waiting for CarParams")
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
@ -75,8 +57,6 @@ class SelfdriveD:
self.sensor_packets = ["accelerometer", "gyroscope"]
self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
self.log_sock = messaging.sub_sock('androidLog')
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
self.car_state_sock = messaging.sub_sock('carState', timeout=20)
@ -128,27 +108,23 @@ class SelfdriveD:
self.personality = self.read_personality_param()
self.recalibrating_seen = False
self.state_machine = StateMachine()
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
# Determine startup event
self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
if not car_recognized:
self.startup_event = EventName.startupNoCar
elif car_recognized and self.CP.passive:
self.startup_event = EventName.startupNoControl
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
if len(self.CP.carFw) > 0:
set_offroad_alert("Offroad_CarUnrecognized", True)
else:
set_offroad_alert("Offroad_NoFirmware", True)
elif self.CP.passive:
self.events.add(EventName.dashcamMode, static=True)
# selfdrived is driven by carState, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
def set_initial_state(self):
if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
self.state_machine.state = State.enabled
def update_events(self, CS):
"""Compute onroadEvents from carState"""
@ -355,18 +331,6 @@ class SelfdriveD:
if (planner_fcw or model_fcw) and not self.CP.notCar:
self.events.add(EventName.fcw)
# Camera errors from the kernel
for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
try:
msg = m.androidLog.message
if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")):
csid = msg.split("CSID:")[-1].split(" ")[0]
evt = CSID_MAP.get(csid, None)
if evt is not None:
self.events.add(evt)
except UnicodeDecodeError:
pass
# TODO: fix simulator
if not SIMULATION or REPLAY:
# Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
@ -403,9 +367,10 @@ class SelfdriveD:
if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
self.sm.ignore_alive.append('wideRoadCameraState')
self.initialized = True
self.set_initial_state()
if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
self.state_machine.state = State.enabled
self.initialized = True
cloudlog.event(
"selfdrived.initialized",
dt=self.sm.frame*DT_CTRL,
@ -449,19 +414,20 @@ class SelfdriveD:
ss_msg = messaging.new_message('selfdriveState')
ss_msg.valid = True
ss = ss_msg.selfdriveState
if self.AM.current_alert:
ss.alertText1 = self.AM.current_alert.alert_text_1
ss.alertText2 = self.AM.current_alert.alert_text_2
ss.alertSize = self.AM.current_alert.alert_size
ss.alertStatus = self.AM.current_alert.alert_status
ss.alertType = self.AM.current_alert.alert_type
ss.alertSound = self.AM.current_alert.audible_alert
ss.enabled = self.enabled
ss.active = self.active
ss.state = self.state_machine.state
ss.engageable = not self.events.contains(ET.NO_ENTRY)
ss.experimentalMode = self.experimental_mode
ss.personality = self.personality
ss.alertText1 = self.AM.current_alert.alert_text_1
ss.alertText2 = self.AM.current_alert.alert_text_2
ss.alertSize = self.AM.current_alert.alert_size
ss.alertStatus = self.AM.current_alert.alert_status
ss.alertType = self.AM.current_alert.alert_type
ss.alertSound = self.AM.current_alert.audible_alert
self.pm.send('selfdriveState', ss_msg)
# onroadEvents - logged every second or on change

4
selfdrive/ui/translations/main_ar.ts
View File

@ -388,10 +388,6 @@
<source>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.</source>
<translation>لم يكن openpilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعرف على وحدة التحكم الإلكتروني (ECUs) فيها. يرجى تقديم طلب سحب من أجل إضافة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد في التواصل مع doscord.comma.ai.</translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation>لم يتمكن openpilot من تحديد سيارتك. تحقق من سلامة الكابلات وتأكد من تأمين جميع الوصلات، لا سيما أنه قد تم إدخال طاقة الفاصلة بالكامل في منفذ OBD-II في السيارة. هل تريد أي مساعدة؟ لا تتردد في الانضمام إلى discord.comma.ai.</translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>

4
selfdrive/ui/translations/main_de.ts
View File

@ -379,10 +379,6 @@
<source>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.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation type="unfinished"></translation>

4
selfdrive/ui/translations/main_es.ts
View File

@ -384,10 +384,6 @@
<source>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.</source>
<translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que el comma power esté completamente insertado en el puerto OBD-II del vehículo. ¿Necesita ayuda? Únase discord.comma.ai.</translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>

4
selfdrive/ui/translations/main_fr.ts
View File

@ -384,10 +384,6 @@
<source>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.</source>
<translation>openpilot n&apos;a pas pu identifier votre voiture. Votre voiture n&apos;est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation>openpilot n&apos;a pas pu identifier votre voiture. Vérifiez l&apos;intégrité des câbles et assurez-vous que toutes les connexions sont correctes, en particulier l&apos;alimentation du comma est totalement insérée dans le port OBD-II du véhicule. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>

4
selfdrive/ui/translations/main_ja.ts
View File

@ -378,10 +378,6 @@
<source>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.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation type="unfinished"></translation>

4
selfdrive/ui/translations/main_ko.ts
View File

@ -379,10 +379,6 @@
<source>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.</source>
<translation>openpilot이 차량을 식별할 수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation>openpilot이 차량을 식별할 수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 제대로 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>

4
selfdrive/ui/translations/main_pt-BR.ts
View File

@ -380,10 +380,6 @@
<source>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.</source>
<translation>O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation>O openpilot não conseguiu identificar o seu carro. Verifique a integridade dos cabos e certifique-se de que todas as conexões estejam seguras, especialmente se o comma power está totalmente inserido na porta OBD-II do veículo. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>O openpilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa.</translation>

4
selfdrive/ui/translations/main_th.ts
View File

@ -383,10 +383,6 @@
<source>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.</source>
<translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จัก ECU กรุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์มแวร์ให้กับรถยนต์ที่เหมาะสม หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ กรุณาตรวจสอบสายเคเบิ้ลและจุดเชื่อมต่อทั้งหมดว่าแน่นหนา โดยเฉพาะ comma power ว่าได้ดันเข้าไปยังพอร์ต OBD II ของรถยนต์จนสุด หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา</translation>

4
selfdrive/ui/translations/main_tr.ts
View File

@ -382,10 +382,6 @@
<source>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.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation type="unfinished"></translation>

4
selfdrive/ui/translations/main_zh-CHS.ts
View File

@ -379,10 +379,6 @@
<source>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.</source>
<translation>openpilot 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。</translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation>openpilot 无法识别您的车辆。请检查线路是否正确安装并确保所有的连接都牢固，特别是确保 comma power 完全插入车辆的 OBD-II 接口。需要帮助吗？请加入 discord.comma.ai。</translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot 检测到设备的安装位置发生变化。请确保设备完全安装在支架上，并确保支架牢固地固定在挡风玻璃上。</translation>

4
selfdrive/ui/translations/main_zh-CHT.ts
View File

@ -379,10 +379,6 @@
<source>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.</source>
<translation>openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的韌體版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
</message>
<message>
<source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
<translation>openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 介面。需要幫助嗎？請加入 discord.comma.ai 。</translation>
</message>
<message>
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot 偵測到裝置的安裝位置發生變化。請確保裝置完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。</translation>