mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-04-07 15:53:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'devel-i18n' into devel-zhs

Browse Source
This commit is contained in:
Rick Lan
2020-03-27 12:51:50 +10:00
parent 667b2098d3 6c3b2f86cf
commit d253f6ea14
14 changed files with 357 additions and 150 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
common/params.py
View File

@@ -174,6 +174,12 @@ keys = {
"DragonLastModified": [TxType.PERSISTENT],
"DragonEnableRegistration": [TxType.PERSISTENT],
"DragonDynamicFollow": [TxType.PERSISTENT],
"DragonEnableDoorCheck": [TxType.PERSISTENT],
"DragonEnableSeatBeltCheck": [TxType.PERSISTENT],
"DragonEnableGearCheck": [TxType.PERSISTENT],
"DragonEnableTempMonitor": [TxType.PERSISTENT],
"DragonEnableCurvatureLearner": [TxType.PERSISTENT],
"DragonCurvatureLearnerOffset": [TxType.PERSISTENT],
}

285
phonelibs/nanovg/stb_truetype.h
View File

@@ -1,5 +1,14 @@
// stb_truetype.h - v1.21 - public domain
// authored from 2009-2016 by Sean Barrett / RAD Game Tools
// stb_truetype.h - v1.24 - public domain
// authored from 2009-2020 by Sean Barrett / RAD Game Tools
//
// =======================================================================
//
// NO SECURITY GUARANTEE -- DO NOT USE THIS ON UNTRUSTED FONT FILES
//
// This library does no range checking of the offsets found in the file,
// meaning an attacker can use it to read arbitrary memory.
//
// =======================================================================
//
// This library processes TrueType files:
// parse files
@@ -32,11 +41,11 @@
// Daniel Ribeiro Maciel
//
// Bug/warning reports/fixes:
// "Zer" on mollyrocket Fabian "ryg" Giesen
// Cass Everitt Martins Mozeiko
// stoiko (Haemimont Games) Cap Petschulat
// Brian Hook Omar Cornut
// Walter van Niftrik github:aloucks
// "Zer" on mollyrocket Fabian "ryg" Giesen github:NiLuJe
// Cass Everitt Martins Mozeiko github:aloucks
// stoiko (Haemimont Games) Cap Petschulat github:oyvindjam
// Brian Hook Omar Cornut github:vassvik
// Walter van Niftrik Ryan Griege
// David Gow Peter LaValle
// David Given Sergey Popov
// Ivan-Assen Ivanov Giumo X. Clanjor
@@ -44,11 +53,14 @@
// Johan Duparc Thomas Fields
// Hou Qiming Derek Vinyard
// Rob Loach Cort Stratton
// Kenney Phillis Jr. github:oyvindjam
// Brian Costabile github:vassvik
//
// Kenney Phillis Jr. Brian Costabile
// Ken Voskuil (kaesve)
//
// VERSION HISTORY
//
// 1.24 (2020-02-05) fix warning
// 1.23 (2020-02-02) query SVG data for glyphs; query whole kerning table (but only kern not GPOS)
// 1.22 (2019-08-11) minimize missing-glyph duplication; fix kerning if both 'GPOS' and 'kern' are defined
// 1.21 (2019-02-25) fix warning
// 1.20 (2019-02-07) PackFontRange skips missing codepoints; GetScaleFontVMetrics()
// 1.19 (2018-02-11) GPOS kerning, STBTT_fmod
@@ -208,7 +220,7 @@
//
// Advancing for the next character:
// Call GlyphHMetrics, and compute 'current_point += SF * advance'.
//
//
//
// ADVANCED USAGE
//
@@ -333,7 +345,7 @@ int main(int argc, char **argv)
}
return 0;
}
#endif
#endif
//
// Output:
//
@@ -347,9 +359,9 @@ int main(int argc, char **argv)
// :@@. M@M
// @@@o@@@@
// :M@@V:@@.
//
//
//////////////////////////////////////////////////////////////////////////////
//
//
// Complete program: print "Hello World!" banner, with bugs
//
#if 0
@@ -650,7 +662,7 @@ STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, cons
// Calling these functions in sequence is roughly equivalent to calling
// stbtt_PackFontRanges(). If you more control over the packing of multiple
// fonts, or if you want to pack custom data into a font texture, take a look
// at the source to of stbtt_PackFontRanges() and create a custom version
// at the source to of stbtt_PackFontRanges() and create a custom version
// using these functions, e.g. call GatherRects multiple times,
// building up a single array of rects, then call PackRects once,
// then call RenderIntoRects repeatedly. This may result in a
@@ -702,7 +714,7 @@ struct stbtt_fontinfo
int numGlyphs; // number of glyphs, needed for range checking
int loca,head,glyf,hhea,hmtx,kern,gpos; // table locations as offset from start of .ttf
int loca,head,glyf,hhea,hmtx,kern,gpos,svg; // table locations as offset from start of .ttf
int index_map; // a cmap mapping for our chosen character encoding
int indexToLocFormat; // format needed to map from glyph index to glyph
@@ -785,6 +797,18 @@ STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int glyph1,
STBTT_DEF int stbtt_GetGlyphBox(const stbtt_fontinfo *info, int glyph_index, int *x0, int *y0, int *x1, int *y1);
// as above, but takes one or more glyph indices for greater efficiency
typedef struct stbtt_kerningentry
{
int glyph1; // use stbtt_FindGlyphIndex
int glyph2;
int advance;
} stbtt_kerningentry;
STBTT_DEF int stbtt_GetKerningTableLength(const stbtt_fontinfo *info);
STBTT_DEF int stbtt_GetKerningTable(const stbtt_fontinfo *info, stbtt_kerningentry* table, int table_length);
// Retrieves a complete list of all of the kerning pairs provided by the font
// stbtt_GetKerningTable never writes more than table_length entries and returns how many entries it did write.
// The table will be sorted by (a.glyph1 == b.glyph1)?(a.glyph2 < b.glyph2):(a.glyph1 < b.glyph1)
//////////////////////////////////////////////////////////////////////////////
//
@@ -829,6 +853,11 @@ STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, s
STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *vertices);
// frees the data allocated above
STBTT_DEF int stbtt_GetCodepointSVG(const stbtt_fontinfo *info, int unicode_codepoint, const char **svg);
STBTT_DEF int stbtt_GetGlyphSVG(const stbtt_fontinfo *info, int gl, const char **svg);
// fills svg with the character's SVG data.
// returns data size or 0 if SVG not found.
//////////////////////////////////////////////////////////////////////////////
//
// BITMAP RENDERING
@@ -958,7 +987,7 @@ STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, floa
// and computing from that can allow drop-out prevention).
//
// The algorithm has not been optimized at all, so expect it to be slow
// if computing lots of characters or very large sizes.
// if computing lots of characters or very large sizes.
@@ -1330,6 +1359,22 @@ static stbtt__buf stbtt__get_subrs(stbtt__buf cff, stbtt__buf fontdict)
return stbtt__cff_get_index(&cff);
}
// since most people won't use this, find this table the first time it's needed
static int stbtt__get_svg(stbtt_fontinfo *info)
{
stbtt_uint32 t;
if (info->svg < 0) {
t = stbtt__find_table(info->data, info->fontstart, "SVG ");
if (t) {
stbtt_uint32 offset = ttULONG(info->data + t + 2);
info->svg = t + offset;
} else {
info->svg = 0;
}
}
return info->svg;
}
static int stbtt_InitFont_internal(stbtt_fontinfo *info, unsigned char *data, int fontstart)
{
stbtt_uint32 cmap, t;
@@ -1409,6 +1454,8 @@ static int stbtt_InitFont_internal(stbtt_fontinfo *info, unsigned char *data, in
else
info->numGlyphs = 0xffff;
info->svg = -1;
// find a cmap encoding table we understand *now* to avoid searching
// later. (todo: could make this installable)
// the same regardless of glyph.
@@ -1715,7 +1762,7 @@ static int stbtt__GetGlyphShapeTT(const stbtt_fontinfo *info, int glyph_index, s
if (i != 0)
num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy);
// now start the new one
// now start the new one
start_off = !(flags & 1);
if (start_off) {
// if we start off with an off-curve point, then when we need to find a point on the curve
@@ -1757,7 +1804,7 @@ static int stbtt__GetGlyphShapeTT(const stbtt_fontinfo *info, int glyph_index, s
}
}
num_vertices = stbtt__close_shape(vertices, num_vertices, was_off, start_off, sx,sy,scx,scy,cx,cy);
} else if (numberOfContours == -1) {
} else if (numberOfContours < 0) {
// Compound shapes.
int more = 1;
stbtt_uint8 *comp = data + g + 10;
@@ -1768,7 +1815,7 @@ static int stbtt__GetGlyphShapeTT(const stbtt_fontinfo *info, int glyph_index, s
int comp_num_verts = 0, i;
stbtt_vertex *comp_verts = 0, *tmp = 0;
float mtx[6] = {1,0,0,1,0,0}, m, n;
flags = ttSHORT(comp); comp+=2;
gidx = ttSHORT(comp); comp+=2;
@@ -1798,7 +1845,7 @@ static int stbtt__GetGlyphShapeTT(const stbtt_fontinfo *info, int glyph_index, s
mtx[2] = ttSHORT(comp)/16384.0f; comp+=2;
mtx[3] = ttSHORT(comp)/16384.0f; comp+=2;
}
// Find transformation scales.
m = (float) STBTT_sqrt(mtx[0]*mtx[0] + mtx[1]*mtx[1]);
n = (float) STBTT_sqrt(mtx[2]*mtx[2] + mtx[3]*mtx[3]);
@@ -1834,9 +1881,6 @@ static int stbtt__GetGlyphShapeTT(const stbtt_fontinfo *info, int glyph_index, s
// More components ?
more = flags & (1<<5);
}
} else if (numberOfContours < 0) {
// @TODO other compound variations?
STBTT_assert(0);
} else {
// numberOfCounters == 0, do nothing
}
@@ -2265,6 +2309,48 @@ STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_inde
}
}
STBTT_DEF int stbtt_GetKerningTableLength(const stbtt_fontinfo *info)
{
stbtt_uint8 *data = info->data + info->kern;
// we only look at the first table. it must be 'horizontal' and format 0.
if (!info->kern)
return 0;
if (ttUSHORT(data+2) < 1) // number of tables, need at least 1
return 0;
if (ttUSHORT(data+8) != 1) // horizontal flag must be set in format
return 0;
return ttUSHORT(data+10);
}
STBTT_DEF int stbtt_GetKerningTable(const stbtt_fontinfo *info, stbtt_kerningentry* table, int table_length)
{
stbtt_uint8 *data = info->data + info->kern;
int k, length;
// we only look at the first table. it must be 'horizontal' and format 0.
if (!info->kern)
return 0;
if (ttUSHORT(data+2) < 1) // number of tables, need at least 1
return 0;
if (ttUSHORT(data+8) != 1) // horizontal flag must be set in format
return 0;
length = ttUSHORT(data+10);
if (table_length < length)
length = table_length;
for (k = 0; k < length; k++)
{
table[k].glyph1 = ttUSHORT(data+18+(k*6));
table[k].glyph2 = ttUSHORT(data+20+(k*6));
table[k].advance = ttSHORT(data+22+(k*6));
}
return length;
}
static int stbtt__GetGlyphKernInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2)
{
stbtt_uint8 *data = info->data + info->kern;
@@ -2540,8 +2626,7 @@ STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int g1, int
if (info->gpos)
xAdvance += stbtt__GetGlyphGPOSInfoAdvance(info, g1, g2);
if (info->kern)
else if (info->kern)
xAdvance += stbtt__GetGlyphKernInfoAdvance(info, g1, g2);
return xAdvance;
@@ -2602,6 +2687,45 @@ STBTT_DEF void stbtt_FreeShape(const stbtt_fontinfo *info, stbtt_vertex *v)
STBTT_free(v, info->userdata);
}
STBTT_DEF stbtt_uint8 *stbtt_FindSVGDoc(const stbtt_fontinfo *info, int gl)
{
int i;
stbtt_uint8 *data = info->data;
stbtt_uint8 *svg_doc_list = data + stbtt__get_svg((stbtt_fontinfo *) info);
int numEntries = ttUSHORT(svg_doc_list);
stbtt_uint8 *svg_docs = svg_doc_list + 2;
for(i=0; i<numEntries; i++) {
stbtt_uint8 *svg_doc = svg_docs + (12 * i);
if ((gl >= ttUSHORT(svg_doc)) && (gl <= ttUSHORT(svg_doc + 2)))
return svg_doc;
}
return 0;
}
STBTT_DEF int stbtt_GetGlyphSVG(const stbtt_fontinfo *info, int gl, const char **svg)
{
stbtt_uint8 *data = info->data;
stbtt_uint8 *svg_doc;
if (info->svg == 0)
return 0;
svg_doc = stbtt_FindSVGDoc(info, gl);
if (svg_doc != NULL) {
*svg = (char *) data + info->svg + ttULONG(svg_doc + 4);
return ttULONG(svg_doc + 8);
} else {
return 0;
}
}
STBTT_DEF int stbtt_GetCodepointSVG(const stbtt_fontinfo *info, int unicode_codepoint, const char **svg)
{
return stbtt_GetGlyphSVG(info, stbtt_FindGlyphIndex(info, unicode_codepoint), svg);
}
//////////////////////////////////////////////////////////////////////////////
//
// antialiasing software rasterizer
@@ -2727,7 +2851,7 @@ static stbtt__active_edge *stbtt__new_active(stbtt__hheap *hh, stbtt__edge *e, i
float dxdy = (e->x1 - e->x0) / (e->y1 - e->y0);
STBTT_assert(z != NULL);
if (!z) return z;
// round dx down to avoid overshooting
if (dxdy < 0)
z->dx = -STBTT_ifloor(STBTT_FIX * -dxdy);
@@ -2805,7 +2929,7 @@ static void stbtt__fill_active_edges(unsigned char *scanline, int len, stbtt__ac
}
}
}
e = e->next;
}
}
@@ -3533,7 +3657,7 @@ STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info
{
int ix0,iy0,ix1,iy1;
stbtt__bitmap gbm;
stbtt_vertex *vertices;
stbtt_vertex *vertices;
int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices);
if (scale_x == 0) scale_x = scale_y;
@@ -3556,7 +3680,7 @@ STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info
if (height) *height = gbm.h;
if (xoff ) *xoff = ix0;
if (yoff ) *yoff = iy0;
if (gbm.w && gbm.h) {
gbm.pixels = (unsigned char *) STBTT_malloc(gbm.w * gbm.h, info->userdata);
if (gbm.pixels) {
@@ -3567,7 +3691,7 @@ STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info
}
STBTT_free(vertices, info->userdata);
return gbm.pixels;
}
}
STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int glyph, int *width, int *height, int *xoff, int *yoff)
{
@@ -3579,7 +3703,7 @@ STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigne
int ix0,iy0;
stbtt_vertex *vertices;
int num_verts = stbtt_GetGlyphShape(info, glyph, &vertices);
stbtt__bitmap gbm;
stbtt__bitmap gbm;
stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale_x, scale_y, shift_x, shift_y, &ix0,&iy0,0,0);
gbm.pixels = output;
@@ -3601,7 +3725,7 @@ STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *
STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint, int *width, int *height, int *xoff, int *yoff)
{
return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y,shift_x,shift_y, stbtt_FindGlyphIndex(info,codepoint), width,height,xoff,yoff);
}
}
STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint)
{
@@ -3616,7 +3740,7 @@ STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, uns
STBTT_DEF unsigned char *stbtt_GetCodepointBitmap(const stbtt_fontinfo *info, float scale_x, float scale_y, int codepoint, int *width, int *height, int *xoff, int *yoff)
{
return stbtt_GetCodepointBitmapSubpixel(info, scale_x, scale_y, 0.0f,0.0f, codepoint, width,height,xoff,yoff);
}
}
STBTT_DEF void stbtt_MakeCodepointBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int codepoint)
{
@@ -3741,7 +3865,7 @@ static void stbrp_init_target(stbrp_context *con, int pw, int ph, stbrp_node *no
con->y = 0;
con->bottom_y = 0;
STBTT__NOTUSED(nodes);
STBTT__NOTUSED(num_nodes);
STBTT__NOTUSED(num_nodes);
}
static void stbrp_pack_rects(stbrp_context *con, stbrp_rect *rects, int num_rects)
@@ -3968,6 +4092,7 @@ static float stbtt__oversample_shift(int oversample)
STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects)
{
int i,j,k;
int missing_glyph_added = 0;
k=0;
for (i=0; i < num_ranges; ++i) {
@@ -3979,7 +4104,7 @@ STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stb
int x0,y0,x1,y1;
int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j];
int glyph = stbtt_FindGlyphIndex(info, codepoint);
if (glyph == 0 && spc->skip_missing) {
if (glyph == 0 && (spc->skip_missing || missing_glyph_added)) {
rects[k].w = rects[k].h = 0;
} else {
stbtt_GetGlyphBitmapBoxSubpixel(info,glyph,
@@ -3989,6 +4114,8 @@ STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stb
&x0,&y0,&x1,&y1);
rects[k].w = (stbrp_coord) (x1-x0 + spc->padding + spc->h_oversample-1);
rects[k].h = (stbrp_coord) (y1-y0 + spc->padding + spc->v_oversample-1);
if (glyph == 0)
missing_glyph_added = 1;
}
++k;
}
@@ -4023,7 +4150,7 @@ STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info
// rects array must be big enough to accommodate all characters in the given ranges
STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects)
{
int i,j,k, return_value = 1;
int i,j,k, missing_glyph = -1, return_value = 1;
// save current values
int old_h_over = spc->h_oversample;
@@ -4088,6 +4215,13 @@ STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const
bc->yoff = (float) y0 * recip_v + sub_y;
bc->xoff2 = (x0 + r->w) * recip_h + sub_x;
bc->yoff2 = (y0 + r->h) * recip_v + sub_y;
if (glyph == 0)
missing_glyph = j;
} else if (spc->skip_missing) {
return_value = 0;
} else if (r->was_packed && r->w == 0 && r->h == 0 && missing_glyph >= 0) {
ranges[i].chardata_for_range[j] = ranges[i].chardata_for_range[missing_glyph];
} else {
return_value = 0; // if any fail, report failure
}
@@ -4126,7 +4260,7 @@ STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char
n = 0;
for (i=0; i < num_ranges; ++i)
n += ranges[i].num_chars;
rects = (stbrp_rect *) STBTT_malloc(sizeof(*rects) * n, spc->user_allocator_context);
if (rects == NULL)
return 0;
@@ -4137,7 +4271,7 @@ STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char
n = stbtt_PackFontRangesGatherRects(spc, &info, ranges, num_ranges, rects);
stbtt_PackFontRangesPackRects(spc, rects, n);
return_value = stbtt_PackFontRangesRenderIntoRects(spc, &info, ranges, num_ranges, rects);
STBTT_free(rects, spc->user_allocator_context);
@@ -4298,7 +4432,7 @@ static int stbtt__compute_crossings_x(float x, float y, int nverts, stbtt_vertex
int x1 = (int) verts[i ].x, y1 = (int) verts[i ].y;
if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) {
float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0;
if (x_inter < x)
if (x_inter < x)
winding += (y0 < y1) ? 1 : -1;
}
}
@@ -4324,7 +4458,7 @@ static int stbtt__compute_crossings_x(float x, float y, int nverts, stbtt_vertex
y1 = (int)verts[i ].y;
if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) {
float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0;
if (x_inter < x)
if (x_inter < x)
winding += (y0 < y1) ? 1 : -1;
}
} else {
@@ -4336,7 +4470,7 @@ static int stbtt__compute_crossings_x(float x, float y, int nverts, stbtt_vertex
if (hits[1][0] < 0)
winding += (hits[1][1] < 0 ? -1 : 1);
}
}
}
}
}
return winding;
@@ -4389,12 +4523,7 @@ STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float sc
int w,h;
unsigned char *data;
// if one scale is 0, use same scale for both
if (scale_x == 0) scale_x = scale_y;
if (scale_y == 0) {
if (scale_x == 0) return NULL; // if both scales are 0, return NULL
scale_y = scale_x;
}
if (scale == 0) return NULL;
stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale, scale, 0.0f,0.0f, &ix0,&iy0,&ix1,&iy1);
@@ -4417,7 +4546,7 @@ STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float sc
// invert for y-downwards bitmaps
scale_y = -scale_y;
{
int x,y,i,j;
float *precompute;
@@ -4566,7 +4695,7 @@ STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float sc
STBTT_free(verts, info->userdata);
}
return data;
}
}
STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff)
{
@@ -4584,7 +4713,7 @@ STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata)
//
// check if a utf8 string contains a prefix which is the utf16 string; if so return length of matching utf8 string
static stbtt_int32 stbtt__CompareUTF8toUTF16_bigendian_prefix(stbtt_uint8 *s1, stbtt_int32 len1, stbtt_uint8 *s2, stbtt_int32 len2)
static stbtt_int32 stbtt__CompareUTF8toUTF16_bigendian_prefix(stbtt_uint8 *s1, stbtt_int32 len1, stbtt_uint8 *s2, stbtt_int32 len2)
{
stbtt_int32 i=0;
@@ -4623,7 +4752,7 @@ static stbtt_int32 stbtt__CompareUTF8toUTF16_bigendian_prefix(stbtt_uint8 *s1, s
return i;
}
static int stbtt_CompareUTF8toUTF16_bigendian_internal(char *s1, int len1, char *s2, int len2)
static int stbtt_CompareUTF8toUTF16_bigendian_internal(char *s1, int len1, char *s2, int len2)
{
return len1 == stbtt__CompareUTF8toUTF16_bigendian_prefix((stbtt_uint8*) s1, len1, (stbtt_uint8*) s2, len2);
}
@@ -4752,7 +4881,7 @@ STBTT_DEF int stbtt_BakeFontBitmap(const unsigned char *data, int offset,
STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index)
{
return stbtt_GetFontOffsetForIndex_internal((unsigned char *) data, index);
return stbtt_GetFontOffsetForIndex_internal((unsigned char *) data, index);
}
STBTT_DEF int stbtt_GetNumberOfFonts(const unsigned char *data)
@@ -4845,38 +4974,38 @@ This software is available under 2 licenses -- choose whichever you prefer.
------------------------------------------------------------------------------
ALTERNATIVE A - MIT License
Copyright (c) 2017 Sean Barrett
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
------------------------------------------------------------------------------
ALTERNATIVE B - Public Domain (www.unlicense.org)
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
software, either in source code form or as a compiled binary, for any purpose,
Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
software, either in source code form or as a compiled binary, for any purpose,
commercial or non-commercial, and by any means.
In jurisdictions that recognize copyright laws, the author or authors of this
software dedicate any and all copyright interest in the software to the public
domain. We make this dedication for the benefit of the public at large and to
the detriment of our heirs and successors. We intend this dedication to be an
overt act of relinquishment in perpetuity of all present and future rights to
In jurisdictions that recognize copyright laws, the author or authors of this
software dedicate any and all copyright interest in the software to the public
domain. We make this dedication for the benefit of the public at large and to
the detriment of our heirs and successors. We intend this dedication to be an
overt act of relinquishment in perpetuity of all present and future rights to
this software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
------------------------------------------------------------------------------
*/
*/

12
selfdrive/car/car_helpers.py
View File

@@ -226,8 +226,10 @@ def log_fingerprinted(candidate):
def log_unmatched_fingerprint(fingerprints, fw):
while True:
crash.capture_warning("car doesn't match any fingerprints: %s" % fingerprints)
crash.capture_warning("car doesn't match any fw: %s" % fw)
if not bool(fingerprints):
crash.capture_warning("car doesn't match any fingerprints: %s" % fingerprints)
if not bool(fw):
crash.capture_warning("car doesn't match any fw: %s" % fw)
break
def get_car(logcan, sendcan, has_relay=False):
@@ -238,8 +240,10 @@ def get_car(logcan, sendcan, has_relay=False):
y = threading.Thread(target=log_unmatched_fingerprint, args=(fingerprints,car_fw,))
y.start()
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
cloudlog.warning("car doesn't match any fw: %s" % car_fw)
if not bool(fingerprints):
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
if not bool(fw):
cloudlog.warning("car doesn't match any fw: %s" % car_fw)
candidate = "mock"
if is_online():

21
selfdrive/car/interfaces.py
View File

@@ -44,6 +44,9 @@ class CarInterfaceBase():
self.ts_last_check = 0.
self.dragon_lat_ctrl = True
self.dp_last_modified = None
self.dp_door_check = True
self.dp_seatbelt_check = True
self.dp_gear_check = True
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
@@ -113,25 +116,29 @@ class CarInterfaceBase():
self.dragon_toyota_stock_dsu = False
if not self.dragon_toyota_stock_dsu:
self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
self.dp_door_check = False if params.get("DragonEnableDoorCheck", encoding='utf8') == "0" else True
self.dp_seatbelt_check = False if params.get("DragonEnableSeatBeltCheck", encoding='utf8') == "0" else True
self.dp_gear_check = False if params.get("DragonEnableGearCheck", encoding='utf8') == "0" else True
self.dp_last_modified = modified
self.ts_last_check = ts
def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1):
events = []
if cs_out.doorOpen:
if self.dp_door_check and cs_out.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.seatbeltUnlatched:
if self.dp_seatbelt_check and cs_out.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.dp_gear_check:
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not cs_out.cruiseState.available:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if cs_out.espDisabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gasPressed and not self.dragon_toyota_stock_dsu and not self.dragon_allow_gas:
if not self.dragon_allow_gas and cs_out.gasPressed and not self.dragon_toyota_stock_dsu:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
# TODO: move this stuff to the capnp strut

2
selfdrive/car/toyota/carcontroller.py
View File

@@ -119,7 +119,7 @@ class CarController():
self.last_fault_frame = frame
# Cut steering for 2s after fault
if not enabled: # or (frame - self.last_fault_frame < 200):
if not enabled or (frame - self.last_fault_frame < 200):
apply_steer = 0
apply_steer_req = 0
else:

8
selfdrive/car/toyota/carstate.py
View File

@@ -92,7 +92,7 @@ class CarState(CarStateBase):
# we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
if self.CP.carFingerprint == CAR.LEXUS_IS:
if self.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_NXT]:
ret.cruiseState.available = cp.vl["DSU_CRUISE"]['MAIN_ON'] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]['SET_SPEED'] * CV.KPH_TO_MS
self.low_speed_lockout = False
@@ -130,8 +130,10 @@ class CarState(CarStateBase):
self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
self.steer_warning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
if self.dragon_toyota_stock_dsu and ret.genericToggle and ret.cruiseState.available:
if self.dragon_toyota_stock_dsu and ret.cruiseState.available:
enable_acc = True
if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park, car.CarState.GearShifter.neutral]:
enable_acc = False
if ret.seatbeltUnlatched or ret.doorOpen:
enable_acc = False
ret.cruiseState.enabled = enable_acc
@@ -197,7 +199,7 @@ class CarState(CarStateBase):
("GAS_PEDAL", 33),
]
if CP.carFingerprint == CAR.LEXUS_IS:
if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_NXT]:
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
checks.append(("DSU_CRUISE", 5))

10
selfdrive/car/toyota/interface.py
View File

@@ -251,6 +251,16 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_NXT:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44

19
selfdrive/car/toyota/values.py
View File

@@ -37,6 +37,7 @@ class CAR:
LEXUS_NXH = "LEXUS NX300H 2018"
LEXUS_ISH = "LEXUS IS300h 2017"
LEXUS_GSH = "LEXUS GS450h 2017"
LEXUS_NXT = "LEXUS NX200T 2015"
# addr: (ecu, cars, bus, 1/freq*100, vl)
@@ -158,10 +159,14 @@ FINGERPRINTS = {
{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# China 2018 Camry from superdongle
# China 2018 Camry 2.5 from superdongle
{
36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# China 2018 Camry 2.0
{
36: 8, 37: 8, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1112: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
{
# 2019 XSE
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
@@ -181,6 +186,9 @@ FINGERPRINTS = {
}],
CAR.HIGHLANDER: [{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767: 4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1585: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
},{
# 2018 China Highlander from toyboxZ
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
}],
CAR.HIGHLANDER_TSS2: [{
# 2020 highlander limited
@@ -290,6 +298,9 @@ FINGERPRINTS = {
{
36: 8, 37: 8, 38: 8, 42: 8, 44: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 548: 8, 550: 2, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 744: 8, 800: 8, 810: 2, 812: 3, 832: 8, 836: 8, 845: 5, 849: 4, 864: 1, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 2, 917: 4, 918: 7, 919: 1, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1116: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1188: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1193: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1206: 8, 1208: 8, 1226: 8, 1227: 8, 1235: 8, 1237: 8, 1250: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1599: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.LEXUS_NXT: [{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 426: 6, 452: 8, 464: 8, 466: 7, 544: 4, 550: 8, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 810: 2, 812: 3, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1263: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
}
# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
@@ -474,6 +485,7 @@ FW_VERSIONS = {
b'\x01F152612B10\x00\x00\x00\x00\x00\x00',
b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301100\x00\x00\x00\x00',
@@ -881,8 +893,9 @@ DBC = {
CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_GSH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_NXT: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
}
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.LEXUS_NXT]
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2] # no resume button press required
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.LEXUS_NXT] # no resume button press required

28
selfdrive/controls/lib/pathplanner.py
View File

@@ -6,11 +6,11 @@ from selfdrive.controls.lib.lateral_mpc import libmpc_py
from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
from selfdrive.controls.lib.lane_planner import LanePlanner
from selfdrive.config import Conversions as CV
from common.params import Params
from common.params import Params, put_nonblocking
import cereal.messaging as messaging
from cereal import log
# dragonpilot
from common.params import Params
from common.numpy_fast import clip
from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
LaneChangeState = log.PathPlan.LaneChangeState
@@ -75,6 +75,9 @@ class PathPlanner():
self.dragon_auto_lc_delay = 2.
self.last_ts = 0.
self.dp_last_modified = None
self.dp_curvature_learner = False
self.dp_curvature_learner_offset = 0.
self.last_curvature_update = 0.
def setup_mpc(self):
self.libmpc = libmpc_py.libmpc
@@ -98,6 +101,14 @@ class PathPlanner():
if cur_time - self.last_ts >= 5.:
modified = dp_get_last_modified()
if self.dp_last_modified != modified:
self.dp_curvature_learner = True if self.params.get("DragonEnableCurvatureLearner", encoding='utf8') == "1" else False
if self.dp_curvature_learner:
try:
self.dp_curvature_learner_offset = float(self.params.get("DragonCurvatureLearnerOffset", encoding='utf8'))
except (TypeError, ValueError):
self.dp_curvature_learner_offset = 0.
else:
self.dp_curvature_learner_offset = 0.
self.lane_change_enabled = True if self.params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
if self.lane_change_enabled:
self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
@@ -132,6 +143,9 @@ class PathPlanner():
self.dragon_auto_lc_enabled = False
self.dp_last_modified = modified
self.last_ts = cur_time
if self.dp_curvature_learner and cur_time - self.last_curvature_update >= 120.:
put_nonblocking('DragonCurvatureLearnerOffset', str(self.dp_curvature_learner_offset))
self.last_curvature_update = cur_time
v_ego = sm['carState'].vEgo
angle_steers = sm['carState'].steeringAngle
@@ -142,7 +156,7 @@ class PathPlanner():
# Run MPC
self.angle_steers_des_prev = self.angle_steers_des_mpc
VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
curvature_factor = VM.curvature_factor(v_ego)
curvature_factor = VM.curvature_factor(v_ego) + self.dp_curvature_learner_offset
self.LP.parse_model(sm['model'])
@@ -238,6 +252,14 @@ class PathPlanner():
self.LP.update_d_poly(v_ego)
if self.dp_curvature_learner:
if active:
if angle_steers - angle_offset > 0.5:
self.dp_curvature_learner_offset -= self.LP.d_poly[3] / 12000
elif angle_steers - angle_offset < -0.5:
self.dp_curvature_learner_offset += self.LP.d_poly[3] / 12000
self.dp_curvature_learner_offset = clip(self.dp_curvature_learner_offset, -0.3, 0.3)
# account for actuation delay
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay)

15
selfdrive/controls/lib/planner.py
View File

@@ -23,10 +23,10 @@ AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distract
# lookup tables VS speed to determine min and max accels in cruise
# make sure these accelerations are smaller than mpc limits
_A_CRUISE_MIN_V = [-2.0, -1.5, -1.0, -0.7, -0.5]
_A_CRUISE_MIN_V_ECO = [-1.0, -0.7, -0.6, -0.5, -0.3]
_A_CRUISE_MIN_V_SPORT = [-3.0, -2.6, -2.3, -2.0, -1.0]
_A_CRUISE_MIN_V = [-2.0, -1.5, -1.0, -0.7, -0.5]
_A_CRUISE_MIN_V_FOLLOWING = [-4.0, -4.0, -3.5, -2.5, -2.0]
_A_CRUISE_MIN_BP = [0.0, 5.0, 10.0, 20.0, 55.0]
# need fast accel at very low speed for stop and go
@@ -50,21 +50,18 @@ ACCEL_NORMAL_MODE = 0
ACCEL_SPORT_MODE = 1
def calc_cruise_accel_limits(v_ego, following, accel_profile):
if accel_profile == ACCEL_ECO_MODE:
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_ECO)
elif accel_profile == ACCEL_SPORT_MODE:
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
else:
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
if following:
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_FOLLOWING)
a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
else:
if accel_profile == ACCEL_ECO_MODE:
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_ECO)
a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_ECO)
elif accel_profile == ACCEL_SPORT_MODE:
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_SPORT)
else:
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
return np.vstack([a_cruise_min, a_cruise_max])

6
selfdrive/dragonpilot/dragonconf/__init__.py
View File

@@ -72,6 +72,12 @@ default_conf = {
'DragonLastModified': str(floor(time.time())),
'DragonEnableRegistration': '1',
'DragonDynamicFollow': '-2', # OFF = -2, LONG = -1, NORMAL = 0, SHORT = 1
'DragonEnableDoorCheck': '1',
'DragonEnableSeatBeltCheck': '1',
'DragonEnableGearCheck': '1',
'DragonEnableTempMonitor': '1',
'DragonEnableCurvatureLearner': '0',
'DragonCurvatureLearnerOffset': '0.0',
}
deprecated_conf = {

34
selfdrive/thermald/power_monitoring.py
View File

@@ -58,11 +58,12 @@ def panda_current_to_actual_current(panda_current):
class PowerMonitoring:
def __init__(self):
def __init__(self, is_uno):
self.last_measurement_time = None # Used for integration delta
self.power_used_uWh = 0 # Integrated power usage in uWh since going into offroad
self.next_pulsed_measurement_time = None
self.integration_lock = threading.Lock()
self.is_uno = is_uno
# Calculation tick
def calculate(self, health):
@@ -76,14 +77,17 @@ class PowerMonitoring:
# Only integrate when there is no ignition
# If health is None, we're probably not in a car, so we don't care
if health is None or (health.health.ignitionLine or health.health.ignitionCan):
self.last_measurement_time = None
self.power_used_uWh = 0
with self.integration_lock:
self.last_measurement_time = None
self.next_pulsed_measurement_time = None
self.power_used_uWh = 0
return
# First measurement, set integration time
if self.last_measurement_time is None:
self.last_measurement_time = now
return
with self.integration_lock:
if self.last_measurement_time is None:
self.last_measurement_time = now
return
# Get current power draw somehow
current_power = 0
@@ -114,6 +118,7 @@ class PowerMonitoring:
currents.append(get_battery_current())
time.sleep(1)
current_power = ((mean(voltages) / 1000000) * (mean(currents) / 1000000))
self._perform_integration(now, current_power * FUDGE_FACTOR)
# Enable charging again
@@ -126,7 +131,7 @@ class PowerMonitoring:
self.next_pulsed_measurement_time = None
return
elif self.next_pulsed_measurement_time is None:
elif self.next_pulsed_measurement_time is None and not self.is_uno:
# On a charging EON with black panda, or drawing more than 400mA out of a white/grey one
# Only way to get the power draw is to turn off charging for a few sec and check what the discharging rate is
# We shouldn't do this very often, so make sure it has been some long-ish random time interval
@@ -139,14 +144,17 @@ class PowerMonitoring:
# Do the integration
self._perform_integration(now, current_power)
except Exception:
cloudlog.exception("Power monitoring calculation failed:")
cloudlog.exception("Power monitoring calculation failed")
def _perform_integration(self, t, current_power):
self.integration_lock.acquire()
integration_time_h = (t - self.last_measurement_time) / 3600
self.power_used_uWh += (current_power * 1000000) * integration_time_h
self.last_measurement_time = t
self.integration_lock.release()
with self.integration_lock:
try:
if self.last_measurement_time:
integration_time_h = (t - self.last_measurement_time) / 3600
self.power_used_uWh += (current_power * 1000000) * integration_time_h
self.last_measurement_time = t
except Exception:
cloudlog.exception("Integration failed")
# Get the power usage
def get_power_used(self):

57
selfdrive/thermald/thermald.py
View File

@@ -195,7 +195,7 @@ def thermald_thread():
setup_eon_fan()
handle_fan = handle_fan_eon
pm = PowerMonitoring()
pm = PowerMonitoring(is_uno)
# dragonpilot
ts_last_ip = None
ts_last_update_vars = 0
@@ -207,8 +207,29 @@ def thermald_thread():
dragon_charging_ctrl_prev = False
dragon_to_discharge = 70
dragon_to_charge = 60
dp_temp_monitor = True
while 1:
# dragonpilot
ts = sec_since_boot()
# update variable status every 10 secs
if ts - ts_last_update_vars >= 10.:
modified = dp_get_last_modified()
if dp_last_modified != modified:
dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
dp_temp_monitor = True if params.get('DragonEnableTempMonitor', encoding='utf8') == "1" else False
if dragon_charging_ctrl:
try:
dragon_to_discharge = int(params.get('DragonCharging', encoding='utf8'))
except (TypeError, ValueError):
dragon_to_discharge = 70
try:
dragon_to_charge = int(params.get('DragonDisCharging', encoding='utf8'))
except (TypeError, ValueError):
dragon_to_charge = 60
dp_last_modified = modified
ts_last_update_vars = ts
health = messaging.recv_sock(health_sock, wait=True)
location = messaging.recv_sock(location_sock)
location = location.gpsLocation if location else None
@@ -367,13 +388,14 @@ def thermald_thread():
# if any CPU gets above 107 or the battery gets above 63, kill all processes
# controls will warn with CPU above 95 or battery above 60
if thermal_status >= ThermalStatus.danger:
should_start = False
if thermal_status_prev < ThermalStatus.danger:
params.put("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"]))
else:
if thermal_status_prev >= ThermalStatus.danger:
params.delete("Offroad_TemperatureTooHigh")
if dp_temp_monitor:
if thermal_status >= ThermalStatus.danger:
should_start = False
if thermal_status_prev < ThermalStatus.danger:
params.put("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"]))
else:
if thermal_status_prev >= ThermalStatus.danger:
params.delete("Offroad_TemperatureTooHigh")
if should_start:
if not should_start_prev:
@@ -420,25 +442,6 @@ def thermald_thread():
fw_version_match_prev = fw_version_match
should_start_prev = should_start
# dragonpilot
ts = sec_since_boot()
# update variable status every 10 secs
if ts - ts_last_update_vars >= 10.:
modified = dp_get_last_modified()
if dp_last_modified != modified:
dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
if dragon_charging_ctrl:
try:
dragon_to_discharge = int(params.get('DragonCharging', encoding='utf8'))
except TypeError:
dragon_to_discharge = 70
try:
dragon_to_charge = int(params.get('DragonDisCharging', encoding='utf8'))
except TypeError:
dragon_to_charge = 60
dp_last_modified = modified
ts_last_update_vars = ts
if dragon_charging_ctrl != dragon_charging_ctrl_prev:
set_battery_charging(True)

4
selfdrive/ui/sidebar.cc
View File

@@ -157,13 +157,13 @@ static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char
nvgTextBox(s->vg, metric_x + 50, metric_y + 50, metric_w - 60, value_str, NULL);
nvgFillColor(s->vg, COLOR_WHITE);
nvgFontSize(s->vg, 48);
nvgFontSize(s->vg, 46);
nvgFontFace(s->vg, "sans-regular");
nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_MIDDLE);
nvgTextBox(s->vg, metric_x + 50, metric_y + 50 + 66, metric_w - 60, label_str, NULL);
} else {
nvgFillColor(s->vg, COLOR_WHITE);
nvgFontSize(s->vg, 48);
nvgFontSize(s->vg, 46);
nvgFontFace(s->vg, "sans-bold");
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
nvgTextBox(s->vg, metric_x + 35, metric_y + (strlen(message_str) > 8 ? 40 : 50), metric_w - 50, message_str, NULL);