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add tang dmi24

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This commit is contained in:
Comma Device
2026-02-01 16:59:39 +08:00
parent 815dc482cc
commit be8e8fcae4
22 changed files with 398 additions and 481 deletions
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4
RELEASES.md
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@@ -1,3 +1,7 @@
Carrot2-v9 (2026-02-01)
========================
* 添加唐dmi24
Carrot2-v9 (2026-01-31)
========================
* Byd离手修正

4
opendbc_repo/opendbc/car/byd/bydcan.py
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4
opendbc_repo/opendbc/car/byd/carcontroller.py
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4
opendbc_repo/opendbc/car/byd/carstate.py
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4
opendbc_repo/opendbc/car/byd/radar_interface.py
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4
opendbc_repo/opendbc/car/byd/values.py
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1
opendbc_repo/opendbc/car/torque_data/params.toml
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@@ -9,6 +9,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"BYD_HAN_EV_20" = [1.0, 2.5, 0.15]
"BYD_TANG_DM" = [1.0, 2.5, 0.15]
"BYD_TANG_DMI_21" = [1.0, 2.5, 0.15]
"BYD_TANG_DMI_24" = [1.0, 2.5, 0.15]
"BYD_TANG_DMP_22" = [1.0, 2.5, 0.15]
"BYD_TANG_DMP_23" = [1.0, 2.5, 0.15]
"BYD_SONG_PLUS_DMI_21" = [1.0, 2.5, 0.15]

386
opendbc_repo/opendbc/dbc/byd_generic_pt.dbc
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@@ -36,215 +36,215 @@ BS_:
BU_: XXX
BO_ 85 CID_SRPYCI: 8 XXX
SG_ sig_efveom : 40|1@1+ (1,0) [0|1] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 85 CID_QHKVHP: 8 XXX
SG_ sig_qklepv : 40|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 287 CID_YXJGGX: 5 XXX
SG_ sig_kvntat : 0|16@1- (0.1,0) [-450|450] "" XXX
SG_ sig_hndniz : 16|8@1+ (4,0) [0|1020] "" XXX
SG_ sig_yxuxyx : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 287 CID_ZZKUMJ: 5 XXX
SG_ sig_eumvcf : 0|16@1- (0.1,0) [-450|450] "" XXX
SG_ sig_udywxb : 16|8@1+ (4,0) [0|1020] "" XXX
SG_ sig_tnlzfc : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 289 CID_BFAIKC: 8 XXX
SG_ sig_hyxvqm : 0|12@1+ (1,0) [0|255] "" XXX
BO_ 289 CID_VBIPRG: 8 XXX
SG_ sig_iuwwpl : 0|12@1+ (1,0) [0|255] "" XXX
BO_ 301 CID_ZNACHQ: 8 XXX
SG_ sig_bwmkny : 0|1@0+ (1,0) [0|1] "" XXX
SG_ sig_kgthpb : 1|1@0+ (1,0) [0|1] "" XXX
SG_ sig_qilxgm : 2|1@0+ (1,0) [0|1] "" XXX
SG_ sig_jsvdww : 3|1@0+ (1,0) [0|1] "" XXX
SG_ sig_yeqynq : 4|1@0+ (1,0) [0|1] "" XXX
SG_ sig_bmgwao : 6|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ubnhfk : 8|1@0+ (1,0) [0|1] "" XXX
SG_ sig_wvxqci : 55|1@0+ (1,0) [0|1] "" XXX
BO_ 301 CID_UEOLTV: 8 XXX
SG_ sig_fbhfzt : 0|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dusood : 1|1@0+ (1,0) [0|1] "" XXX
SG_ sig_xaicfx : 2|1@0+ (1,0) [0|1] "" XXX
SG_ sig_hxqwnu : 3|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ofbknt : 4|1@0+ (1,0) [0|1] "" XXX
SG_ sig_iytefc : 6|1@0+ (1,0) [0|1] "" XXX
SG_ sig_tihxrh : 8|1@0+ (1,0) [0|1] "" XXX
SG_ sig_egsfet : 55|1@0+ (1,0) [0|1] "" XXX
BO_ 307 CID_XIPPNC: 8 XXX
SG_ sig_sdwfvm : 0|1@0+ (1,0) [0|1] "" XXX
SG_ sig_hjkzwm : 1|1@1+ (1,0) [0|1] "" XXX
SG_ sig_jfwqgm : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_xkilpm : 3|1@1+ (1,0) [0|1] "" XXX
SG_ sig_qjosre : 4|1@0+ (1,0) [0|1] "" XXX
SG_ sig_thggnh : 5|1@0+ (1,0) [0|1] "" XXX
SG_ sig_cyqjbv : 7|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ssywkq : 36|3@1+ (1,0) [0|7] "" XXX
SG_ sig_florjc : 40|1@0+ (1,0) [0|1] "" XXX
SG_ sig_qwydff : 63|4@0+ (1,0) [0|15] "" XXX
BO_ 307 CID_QBTCGK: 8 XXX
SG_ sig_wyxize : 0|1@0+ (1,0) [0|1] "" XXX
SG_ sig_jsrpyi : 1|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ylewed : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_dokzwc : 3|1@1+ (1,0) [0|1] "" XXX
SG_ sig_icpdrq : 4|1@0+ (1,0) [0|1] "" XXX
SG_ sig_qpjnlb : 5|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vwwfgj : 7|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ebrjnq : 36|3@1+ (1,0) [0|7] "" XXX
SG_ sig_pwbqsc : 40|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ttnqcj : 63|4@0+ (1,0) [0|15] "" XXX
BO_ 482 CID_UUYTRS: 8 XXX
SG_ sig_hzdvjw : 0|10@1- (0.01,0) [0|5] "" XXX
SG_ sig_xmkmhe : 10|10@1- (0.01,0) [-5|0] "" XXX
SG_ sig_amipgq : 20|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ypbjmb : 21|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ymyxvc : 22|2@1+ (1,0) [0|1] "" XXX
SG_ sig_vohxni : 24|16@1- (0.1,0) [-780|779.9] "" XXX
SG_ sig_tvvfyd : 47|8@0+ (1,0) [0|255] "" XXX
SG_ sig_ylhywp : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_yxuxyx : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 482 CID_VVFVXZ: 8 XXX
SG_ sig_oovlwe : 0|10@1- (0.01,0) [0|5] "" XXX
SG_ sig_cebiug : 10|10@1- (0.01,0) [-5|0] "" XXX
SG_ sig_bhhzpn : 20|1@0+ (1,0) [0|1] "" XXX
SG_ sig_qscaec : 21|1@0+ (1,0) [0|1] "" XXX
SG_ sig_rfkczs : 22|2@1+ (1,0) [0|1] "" XXX
SG_ sig_otmfzz : 24|16@1- (0.1,0) [-780|779.9] "" XXX
SG_ sig_ynvdhx : 47|8@0+ (1,0) [0|255] "" XXX
SG_ sig_eqessi : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_tnlzfc : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 508 CID_EPSQAZ: 8 XXX
SG_ sig_txwxva : 0|2@1+ (1,0) [0|1] "" XXX
SG_ sig_ngzakq : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_oefuvt : 3|1@0+ (1,0) [0|1] "" XXX
SG_ sig_chyhsk : 4|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_tcivwq : 16|16@1- (0.1,0) [-780|779.9] "Deg" XXX
SG_ sig_lmqnos : 32|12@1- (1,0) [0|63] "" XXX
SG_ sig_gnftpv : 44|1@0+ (1,0) [0|1] "" XXX
SG_ sig_keozgi : 45|1@1+ (1,0) [0|255] "" XXX
SG_ sig_sydhgi : 46|1@1+ (1,0) [0|1] "" XXX
SG_ sig_nsbthq : 47|1@0+ (1,0) [0|3] "" XXX
SG_ sig_wdpgdn : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_yxuxyx : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 508 CID_HEARIN: 8 XXX
SG_ sig_xhyzub : 0|2@1+ (1,0) [0|1] "" XXX
SG_ sig_mxlfeh : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_upyhyg : 3|1@0+ (1,0) [0|1] "" XXX
SG_ sig_fbdkbh : 4|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_jztunu : 16|16@1- (0.1,0) [-780|779.9] "Deg" XXX
SG_ sig_twrzbs : 32|12@1- (1,0) [0|63] "" XXX
SG_ sig_jvhlom : 44|1@0+ (1,0) [0|1] "" XXX
SG_ sig_nzdewb : 45|1@1+ (1,0) [0|255] "" XXX
SG_ sig_zanljc : 46|1@1+ (1,0) [0|1] "" XXX
SG_ sig_xicltr : 47|1@0+ (1,0) [0|3] "" XXX
SG_ sig_npwtrq : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_tnlzfc : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 578 CID_BRBQUE: 8 XXX
SG_ sig_yvcicn : 30|7@0+ (1,0) [0|127] "" XXX
SG_ sig_fwiqsz : 37|1@0+ (1,0) [0|1] "" XXX
SG_ sig_rnetec : 40|3@1+ (1,0) [0|7] "" XXX
SG_ sig_yxuxyx : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 578 CID_GBEOYM: 8 XXX
SG_ sig_taqabp : 30|7@0+ (1,0) [0|127] "" XXX
SG_ sig_bxoxuf : 37|1@0+ (1,0) [0|1] "" XXX
SG_ sig_cpwfga : 40|3@1+ (1,0) [0|7] "" XXX
SG_ sig_tnlzfc : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 660 CID_NXTUTU: 8 XXX
SG_ sig_bwmkny : 1|2@0+ (1,0) [0|3] "" XXX
SG_ sig_kgthpb : 3|2@0+ (1,0) [0|3] "" XXX
SG_ sig_qilxgm : 5|2@0+ (1,0) [0|3] "" XXX
SG_ sig_jsvdww : 7|2@0+ (1,0) [0|3] "" XXX
SG_ sig_bmgwao : 17|2@0+ (1,0) [0|3] "" XXX
SG_ sig_yeqynq : 19|2@0+ (1,0) [0|3] "" XXX
SG_ sig_mcduoj : 21|2@0+ (1,0) [0|3] "" XXX
SG_ sig_oqrqaa : 26|1@0+ (1,0) [0|1] "" XXX
BO_ 660 CID_YFVVCJ: 8 XXX
SG_ sig_fbhfzt : 1|2@0+ (1,0) [0|3] "" XXX
SG_ sig_dusood : 3|2@0+ (1,0) [0|3] "" XXX
SG_ sig_xaicfx : 5|2@0+ (1,0) [0|3] "" XXX
SG_ sig_hxqwnu : 7|2@0+ (1,0) [0|3] "" XXX
SG_ sig_iytefc : 17|2@0+ (1,0) [0|3] "" XXX
SG_ sig_ofbknt : 19|2@0+ (1,0) [0|3] "" XXX
SG_ sig_xwhmgf : 21|2@0+ (1,0) [0|3] "" XXX
SG_ sig_yytacs : 26|1@0+ (1,0) [0|1] "" XXX
BO_ 694 CID_XONEFU: 8 XXX
SG_ sig_mvapty : 7|8@0+ (1,0) [0|255] "" XXX
SG_ sig_jpruwr : 15|8@0+ (1,0) [0|255] "" XXX
SG_ sig_fcaamu : 23|8@0+ (1,0) [0|255] "" XXX
SG_ sig_xlnywj : 31|8@0+ (1,0) [0|255] "" XXX
SG_ sig_kdgexm : 39|8@0+ (1,0) [0|255] "" XXX
SG_ sig_zrgsyx : 47|8@0+ (1,0) [0|255] "" XXX
BO_ 694 CID_JZLVIG: 8 XXX
SG_ sig_duajdk : 7|8@0+ (1,0) [0|255] "" XXX
SG_ sig_dxbzyy : 15|8@0+ (1,0) [0|255] "" XXX
SG_ sig_gdqfoi : 23|8@0+ (1,0) [0|255] "" XXX
SG_ sig_upzfgv : 31|8@0+ (1,0) [0|255] "" XXX
SG_ sig_ujjzic : 39|8@0+ (1,0) [0|255] "" XXX
SG_ sig_fmrxtb : 47|8@0+ (1,0) [0|255] "" XXX
BO_ 790 CID_ODVYNM: 8 XXX
SG_ sig_oenyeq : 3|4@0+ (1,0) [0|1] "" XXX
SG_ sig_egorcj : 4|2@1+ (1,0) [0|3] "" XXX
SG_ sig_azytel : 6|2@1+ (1,0) [0|3] "" XXX
SG_ sig_govyqn : 8|2@1+ (1,0) [0|3] "" XXX
SG_ sig_aoweea : 10|1@1+ (1,0) [0|1] "" XXX
SG_ sig_pjehxm : 11|4@1+ (1,0) [0|1] "" XXX
SG_ sig_adqpbg : 15|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vohxni : 16|11@1- (1,0) [-1024|1023] "" XXX
SG_ sig_amipgq : 27|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ypbjmb : 28|1@1+ (1,0) [0|3] "" XXX
SG_ sig_shppjs : 29|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vrdqxx : 30|1@0+ (1,0) [0|1] "" XXX
SG_ sig_enyhej : 31|1@0+ (1,0) [0|1] "" XXX
SG_ sig_hcdtrj : 32|2@1+ (1,0) [0|3] "" XXX
SG_ sig_ulkase : 34|2@1+ (1,0) [0|3] "" XXX
SG_ sig_gkwfuv : 36|4@1+ (1,0) [0|3] "" XXX
SG_ sig_wxvlol : 40|8@1+ (5,-5) [-5|1270] "" XXX
SG_ sig_uvbebk : 49|2@0+ (1,0) [0|3] "" XXX
SG_ sig_slpxgr : 51|2@0+ (1,0) [0|3] "" XXX
SG_ sig_yxuxyx : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|15] "" XXX
BO_ 790 CID_YTXNJK: 8 XXX
SG_ sig_tnjscz : 3|4@0+ (1,0) [0|1] "" XXX
SG_ sig_lxznzj : 4|2@1+ (1,0) [0|3] "" XXX
SG_ sig_llwaiy : 6|2@1+ (1,0) [0|3] "" XXX
SG_ sig_ecmvna : 8|2@1+ (1,0) [0|3] "" XXX
SG_ sig_kptghz : 10|1@1+ (1,0) [0|1] "" XXX
SG_ sig_rekbkt : 11|4@1+ (1,0) [0|1] "" XXX
SG_ sig_jgfoot : 15|1@0+ (1,0) [0|1] "" XXX
SG_ sig_otmfzz : 16|11@1- (1,0) [-1024|1023] "" XXX
SG_ sig_bhhzpn : 27|1@1+ (1,0) [0|1] "" XXX
SG_ sig_qscaec : 28|1@1+ (1,0) [0|3] "" XXX
SG_ sig_osnmjf : 29|1@0+ (1,0) [0|1] "" XXX
SG_ sig_zrghyr : 30|1@0+ (1,0) [0|1] "" XXX
SG_ sig_pmeplf : 31|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dwcsiy : 32|2@1+ (1,0) [0|3] "" XXX
SG_ sig_kmicyx : 34|2@1+ (1,0) [0|3] "" XXX
SG_ sig_ncfref : 36|4@1+ (1,0) [0|3] "" XXX
SG_ sig_jplbpv : 40|8@1+ (5,-5) [-5|1270] "" XXX
SG_ sig_trlsig : 49|2@0+ (1,0) [0|3] "" XXX
SG_ sig_vuchiv : 51|2@0+ (1,0) [0|3] "" XXX
SG_ sig_tnlzfc : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|15] "" XXX
BO_ 792 CID_AMVXFB: 8 XXX
SG_ sig_txwxva : 0|2@1+ (1,0) [0|1] "" XXX
SG_ sig_ngzakq : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_oefuvt : 3|1@1+ (1,0) [0|1] "" XXX
SG_ sig_recvvp : 4|1@1+ (1,0) [0|1] "" XXX
SG_ sig_cdivaf : 5|3@1+ (1,0) [0|1] "" XXX
SG_ sig_lmqnos : 8|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_qkmdht : 20|1@1+ (1,0) [0|1] "" XXX
SG_ sig_keozgi : 21|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ccphfi : 22|2@1+ (1,0) [0|15] "" XXX
SG_ sig_chyhsk : 24|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_lvhmbx : 36|4@1+ (1,0) [0|15] "" XXX
SG_ sig_kepfje : 40|12@1+ (1,0) [0|4095] "" XXX
SG_ sig_yxuxyx : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 792 CID_BXBZJK: 8 XXX
SG_ sig_xhyzub : 0|2@1+ (1,0) [0|1] "" XXX
SG_ sig_mxlfeh : 2|1@1+ (1,0) [0|1] "" XXX
SG_ sig_upyhyg : 3|1@1+ (1,0) [0|1] "" XXX
SG_ sig_iglnwy : 4|1@1+ (1,0) [0|1] "" XXX
SG_ sig_vrofhc : 5|3@1+ (1,0) [0|1] "" XXX
SG_ sig_twrzbs : 8|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_kajoro : 20|1@1+ (1,0) [0|1] "" XXX
SG_ sig_nzdewb : 21|1@1+ (1,0) [0|1] "" XXX
SG_ sig_okfogm : 22|2@1+ (1,0) [0|15] "" XXX
SG_ sig_fbdkbh : 24|12@1- (1,0) [-2048|2047] "" XXX
SG_ sig_drouoj : 36|4@1+ (1,0) [0|15] "" XXX
SG_ sig_cucipg : 40|12@1+ (1,0) [0|4095] "" XXX
SG_ sig_tnlzfc : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 813 CID_EGEFDT: 8 XXX
SG_ sig_siyrfd : 0|9@1+ (0.5,0) [0|255.5] "" XXX
SG_ sig_wnjxeg : 9|1@1+ (1,0) [0|1] "" XXX
SG_ sig_yizxjn : 10|3@1+ (1,0) [0|7] "" XXX
SG_ sig_vzskcm : 13|3@1+ (1,0) [0|7] "" XXX
SG_ sig_qilvpm : 16|1@1+ (1,0) [0|1] "" XXX
SG_ sig_vcvikl : 17|1@1+ (1,0) [0|1] "" XXX
SG_ sig_oefuvt : 18|1@1+ (1,0) [0|1] "" XXX
SG_ sig_jzgcwf : 19|3@1+ (1,0) [0|1] "" XXX
SG_ sig_xkrulk : 22|1@0+ (1,0) [0|1] "" XXX
SG_ sig_uivjig : 23|1@0+ (1,0) [0|1] "" XXX
SG_ sig_govyqn : 24|1@1+ (1,0) [0|1] "" XXX
SG_ sig_gwkzyz : 25|7@1+ (1,0) [0|127] "" XXX
SG_ sig_vrmqhi : 32|4@1+ (1,0) [0|15] "" XXX
SG_ sig_qifnmb : 36|8@1+ (1,0) [0|15] "" XXX
SG_ sig_hcsbiq : 47|4@0+ (1,0) [0|7] "" XXX
SG_ sig_yxuxyx : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_afhsaa : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 813 CID_HRRNWQ: 8 XXX
SG_ sig_ybeooi : 0|9@1+ (0.5,0) [0|255.5] "" XXX
SG_ sig_akzlgc : 9|1@1+ (1,0) [0|1] "" XXX
SG_ sig_svnees : 10|3@1+ (1,0) [0|7] "" XXX
SG_ sig_xehggg : 13|3@1+ (1,0) [0|7] "" XXX
SG_ sig_dxgcxv : 16|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ooepta : 17|1@1+ (1,0) [0|1] "" XXX
SG_ sig_upyhyg : 18|1@1+ (1,0) [0|1] "" XXX
SG_ sig_wuliqd : 19|3@1+ (1,0) [0|1] "" XXX
SG_ sig_gzvqdg : 22|1@0+ (1,0) [0|1] "" XXX
SG_ sig_nxwtdc : 23|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ecmvna : 24|1@1+ (1,0) [0|1] "" XXX
SG_ sig_ncglzf : 25|7@1+ (1,0) [0|127] "" XXX
SG_ sig_sgvrjt : 32|4@1+ (1,0) [0|15] "" XXX
SG_ sig_cdtyrw : 36|8@1+ (1,0) [0|15] "" XXX
SG_ sig_cwtqxq : 47|4@0+ (1,0) [0|7] "" XXX
SG_ sig_tnlzfc : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_cyjugi : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 814 CID_CJOTOK: 8 XXX
SG_ sig_bzpyqa : 0|8@1+ (0.05,-5) [-100|155] "" XXX
SG_ sig_cddxvv : 8|8@1+ (0.05,-5) [0|1.26] "" XXX
SG_ sig_mkguub : 16|8@1+ (0.05,-5) [0|1.26] "" XXX
SG_ sig_twqljy : 24|7@1+ (0.2,0) [0|12.7] "" XXX
SG_ sig_oefuvt : 31|1@0+ (1,0) [0|1] "" XXX
SG_ sig_unfjmj : 32|7@1+ (0.2,-16) [0|12.7] "" XXX
SG_ sig_jryohm : 39|1@0+ (1,0) [0|1] "" XXX
SG_ sig_xcuzun : 40|1@0+ (1,0) [0|1] "" XXX
SG_ sig_uordax : 41|1@0+ (1,0) [0|1] "" XXX
SG_ sig_wgfaul : 42|1@1+ (1,0) [0|3] "" XXX
SG_ sig_majuxb : 45|3@0+ (1,0) [0|1] "" XXX
SG_ sig_ozrhhw : 46|2@1+ (1,0) [0|3] "" XXX
SG_ sig_yxuxyx : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_snpgzf : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 814 CID_RGGFFV: 8 XXX
SG_ sig_pxlwru : 0|8@1+ (0.05,-5) [-100|155] "" XXX
SG_ sig_sldhtp : 8|8@1+ (0.05,-5) [0|1.26] "" XXX
SG_ sig_isouwt : 16|8@1+ (0.05,-5) [0|1.26] "" XXX
SG_ sig_fevtnt : 24|7@1+ (0.2,0) [0|12.7] "" XXX
SG_ sig_upyhyg : 31|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vxefrr : 32|7@1+ (0.2,-16) [0|12.7] "" XXX
SG_ sig_lpjoyp : 39|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dtejff : 40|1@0+ (1,0) [0|1] "" XXX
SG_ sig_yvqhug : 41|1@0+ (1,0) [0|1] "" XXX
SG_ sig_cpghrx : 42|1@1+ (1,0) [0|3] "" XXX
SG_ sig_fyhkic : 45|3@0+ (1,0) [0|1] "" XXX
SG_ sig_ukcupc : 46|2@1+ (1,0) [0|3] "" XXX
SG_ sig_tnlzfc : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_vmphcu : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 815 CID_XBRXRK: 8 XXX
SG_ sig_yxuxyx : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_bijdio : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 815 CID_OVYOSQ: 8 XXX
SG_ sig_tnlzfc : 48|4@1+ (1,0) [0|15] "" XXX
SG_ sig_tvikik : 55|4@0+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 834 CID_PQUVAH: 8 XXX
SG_ sig_vmzfns : 0|8@1+ (0.01,0) [0|2.55] "" XXX
SG_ sig_bfimgs : 8|8@1+ (0.01,0) [0|2.55] "" XXX
SG_ sig_xeyjpf : 19|1@1+ (1,0) [0|1] "" XXX
SG_ sig_rhsefc : 20|2@1+ (1,0) [0|255] "" XXX
SG_ sig_lmezps : 28|2@1+ (1,0) [0|1] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 834 CID_VVYKXZ: 8 XXX
SG_ sig_ezjqyg : 0|8@1+ (0.01,0) [0|2.55] "" XXX
SG_ sig_zrkbsy : 8|8@1+ (0.01,0) [0|2.55] "" XXX
SG_ sig_drvwlh : 19|1@1+ (1,0) [0|1] "" XXX
SG_ sig_danjiu : 20|2@1+ (1,0) [0|255] "" XXX
SG_ sig_twmgpp : 28|2@1+ (1,0) [0|1] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 884 CID_HWRERK: 8 MRR
SG_ sig_grbkwp : 2|3@0+ (1,0) [0|3] "" MRR
SG_ sig_idzvqy : 7|4@0+ (1,0) [0|15] "" MRR
SG_ sig_jlwomt : 15|8@0+ (0.1,-12) [0|255] "" MRR
SG_ sig_xadfer : 23|8@0+ (1,-100) [0|255] "" MRR
SG_ sig_hepzsj : 40|1@0+ (1,0) [0|3] "" MRR
SG_ sig_agockz : 43|1@0+ (1,0) [0|1] "" XXX
SG_ sig_gjmjja : 44|4@1+ (1,0) [0|15] "" XXX
SG_ sig_yxuxyx : 52|4@1+ (1,0) [0|15] "" MRR
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" MRR
BO_ 884 CID_PKGWBI: 8 MRR
SG_ sig_azkkjc : 2|3@0+ (1,0) [0|3] "" MRR
SG_ sig_ivooji : 7|4@0+ (1,0) [0|15] "" MRR
SG_ sig_dciaiw : 15|8@0+ (0.1,-12) [0|255] "" MRR
SG_ sig_yauvoo : 23|8@0+ (1,-100) [0|255] "" MRR
SG_ sig_hgpmxk : 40|1@0+ (1,0) [0|3] "" MRR
SG_ sig_dfzfll : 43|1@0+ (1,0) [0|1] "" XXX
SG_ sig_lycftj : 44|4@1+ (1,0) [0|15] "" XXX
SG_ sig_tnlzfc : 52|4@1+ (1,0) [0|15] "" MRR
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" MRR
BO_ 944 CID_DDUFJY: 8 XXX
SG_ sig_uhundp : 1|2@0+ (1,0) [0|3] "" XXX
SG_ sig_dqsucp : 2|1@0+ (1,0) [0|1] "" XXX
SG_ sig_vpbrkn : 4|2@0+ (1,0) [0|3] "" XXX
SG_ sig_dbsxtz : 5|1@0+ (1,0) [0|1] "" XXX
SG_ sig_rnxrix : 6|1@0+ (1,0) [0|1] "" XXX
SG_ sig_fsnakf : 7|1@0+ (1,0) [0|1] "" XXX
SG_ sig_nzaohu : 8|1@0+ (1,0) [0|1] "" XXX
SG_ sig_kjciks : 11|3@0+ (1,0) [0|7] "" XXX
SG_ sig_hvetoe : 12|1@0+ (1,0) [0|1] "" XXX
SG_ sig_fuzjdf : 14|2@0+ (1,0) [0|3] "" XXX
SG_ sig_rkhuca : 15|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ymoswq : 16|1@0+ (1,0) [0|1] "" XXX
SG_ sig_htnoxs : 18|2@0+ (1,0) [0|3] "" XXX
SG_ sig_dsajpu : 19|1@0+ (1,0) [0|1] "" XXX
SG_ sig_biecnf : 23|4@0+ (1,0) [0|15] "" XXX
SG_ sig_agvhzk : 24|28@1+ (1,0) [0|268435455] "" XXX
SG_ sig_yxuxyx : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_uxvepe : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 944 CID_FFSUDY: 8 XXX
SG_ sig_ukktsi : 1|2@0+ (1,0) [0|3] "" XXX
SG_ sig_tqjpfq : 2|1@0+ (1,0) [0|1] "" XXX
SG_ sig_ylibga : 4|2@0+ (1,0) [0|3] "" XXX
SG_ sig_tivbek : 5|1@0+ (1,0) [0|1] "" XXX
SG_ sig_tycmbw : 6|1@0+ (1,0) [0|1] "" XXX
SG_ sig_qumjqj : 7|1@0+ (1,0) [0|1] "" XXX
SG_ sig_lhbrrw : 8|1@0+ (1,0) [0|1] "" XXX
SG_ sig_emgytj : 11|3@0+ (1,0) [0|7] "" XXX
SG_ sig_gfwtlh : 12|1@0+ (1,0) [0|1] "" XXX
SG_ sig_cduvnv : 14|2@0+ (1,0) [0|3] "" XXX
SG_ sig_ashots : 15|1@0+ (1,0) [0|1] "" XXX
SG_ sig_srsczo : 16|1@0+ (1,0) [0|1] "" XXX
SG_ sig_dlqazz : 18|2@0+ (1,0) [0|3] "" XXX
SG_ sig_ldcmbh : 19|1@0+ (1,0) [0|1] "" XXX
SG_ sig_mcwnwk : 23|4@0+ (1,0) [0|15] "" XXX
SG_ sig_lgmwwb : 24|28@1+ (1,0) [0|268435455] "" XXX
SG_ sig_tnlzfc : 52|4@1+ (1,0) [0|15] "" XXX
SG_ sig_ldptaz : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 1048 CID_BAEDUI: 8 XXX
SG_ sig_aylkfk : 9|2@0+ (1,0) [0|1] "" XXX
SG_ sig_hyaper : 11|2@0+ (1,0) [0|1] "" XXX
SG_ sig_hdfiwd : 17|1@0+ (1,0) [0|1] "" XXX
BO_ 1048 CID_PMCVHK: 8 XXX
SG_ sig_uiiaix : 9|2@0+ (1,0) [0|1] "" XXX
SG_ sig_cbtcot : 11|2@0+ (1,0) [0|1] "" XXX
SG_ sig_qhehmo : 17|1@0+ (1,0) [0|1] "" XXX
VAL_ 578 sig_rnetec 4 "D" 2 "R" 3 "N" 1 "P";
VAL_ 578 sig_cpwfga 4 "D" 2 "R" 3 "N" 1 "P";

2
pyarmor_runtime_000000/__init__.py
View File

@@ -1,2 +1,2 @@
# Pyarmor 9.2.3 (trial), 000000, 2026-02-01T16:07:29.885562
# Pyarmor 9.2.3 (trial), 000000, 2026-02-01T16:59:15.364875
from .pyarmor_runtime import __pyarmor__

BIN
pyarmor_runtime_000000/pyarmor_runtime.so
View File

Binary file not shown.

378
selfdrive/selfdrived/events.py
View File

@@ -147,7 +147,7 @@ EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
class NoEntryAlert(Alert):
def __init__(self, alert_text_2: str,
alert_text_1: str = "openpilot不可用",
alert_text_1: str = "openpilot Unavailable",
visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
AlertSize.mid, Priority.LOW, visual_alert,
@@ -156,7 +156,7 @@ class NoEntryAlert(Alert):
class SoftDisableAlert(Alert):
def __init__(self, alert_text_2: str):
super().__init__("请立即接管", alert_text_2,
super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
AlertStatus.userPrompt, AlertSize.full,
Priority.MID, VisualAlert.steerRequired,
AudibleAlert.warningSoft, 2.),
@@ -166,12 +166,12 @@ class SoftDisableAlert(Alert):
class UserSoftDisableAlert(SoftDisableAlert):
def __init__(self, alert_text_2: str):
super().__init__(alert_text_2),
self.alert_text_1 = "openpilot即将解除"
self.alert_text_1 = "openpilot will disengage"
class ImmediateDisableAlert(Alert):
def __init__(self, alert_text_2: str):
super().__init__("请立即接管", alert_text_2,
super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.steerRequired,
AudibleAlert.warningImmediate, 4.),
@@ -193,7 +193,7 @@ class NormalPermanentAlert(Alert):
class StartupAlert(Alert):
def __init__(self, alert_text_1: str, alert_text_2: str = "小鸽温馨提醒：请始终握住方向盘并注视前方道路", alert_status=AlertStatus.normal):
def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
super().__init__(alert_text_1, alert_text_2,
alert_status, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
@@ -230,25 +230,25 @@ def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
if "REPLAY" in os.environ:
branch = "replay"
return StartupAlert("提醒：需配合CarrotAmap或CP搭子 App才能实现高德地图的NOO", branch, alert_status=AlertStatus.userPrompt)
return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
return NoEntryAlert(f"车速超过{get_display_speed(CP.minEnableSpeed, metric)}后可启用")
return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
return Alert(
f"当前车速低于{get_display_speed(CP.minSteerSpeed, metric)}时无法提供转向",
f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 0.4)
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
first_word = '重新校准' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else '校准'
first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
return Alert(
f"{first_word}进行中：{sm['liveCalibration'].calPerc:.0f}%",
f"请将车速提升至{get_display_speed(MIN_SPEED_FILTER, metric)}以上",
f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
@@ -256,13 +256,13 @@ def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
model_name = Params().get("NNFFModelName", encoding='utf-8')
if model_name == "":
return Alert(
"NNFF扭矩控制器不可用",
"请向Twilsonco提供日志以便添加！",
"NNFF Torque Controller not available",
"Donate logs to Twilsonco to get it added!",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 6.0)
else:
return Alert(
"NNFF扭矩控制器已加载",
"NNFF Torque Controller loaded",
model_name,
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 5.0)
@@ -271,57 +271,57 @@ def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
full_perc = round(100. - sm['deviceState'].freeSpacePercent)
return NormalPermanentAlert("存储空间不足", f"已使用{full_perc}%")
return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
err = CS.vEgo - mdl
msg = f"速度误差：{err:.1f} m/s"
return NoEntryAlert(msg, alert_text_1="Posenet速度无效")
msg = f"Speed Error: {err:.1f} m/s"
return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid")
def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
msg = ', '.join(not_running)
return NoEntryAlert(msg, alert_text_1="进程未运行")
return NoEntryAlert(msg, alert_text_1="Process Not Running")
def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
msg = ', '.join(bs[:4]) # can't fit too many on one line
return NoEntryAlert(msg, alert_text_1="进程间通信异常")
return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes")
def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
all_cams = ('roadCameraState', 'wideRoadCameraState')
bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
return NormalPermanentAlert("摄像头故障", ', '.join(bad_cams))
return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
rpy = sm['liveCalibration'].rpyCalib
yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
angles = f"请重新安装设备（俯仰：{pitch:.1f}°，偏航：{yaw:.1f}°）"
return NormalPermanentAlert("校准无效", angles)
angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
return NormalPermanentAlert("Calibration Invalid", angles)
def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
if not sm['liveParameters'].angleOffsetValid:
angle_offset_deg = sm['liveParameters'].angleOffsetDeg
title = "检测到转向未对准"
text = f"角度偏移过大（偏移：{angle_offset_deg:.1f}°）"
title = "Steering misalignment detected"
text = f"Angle offset too high (Offset: {angle_offset_deg:.1f}°)"
elif not sm['liveParameters'].steerRatioValid:
steer_ratio = sm['liveParameters'].steerRatio
title = "转向比不匹配"
text = f"转向齿条几何可能异常（比例：{steer_ratio:.1f}）"
title = "Steer ratio mismatch"
text = f"Steering rack geometry may be off (Ratio: {steer_ratio:.1f})"
elif not sm['liveParameters'].stiffnessFactorValid:
stiffness_factor = sm['liveParameters'].stiffnessFactor
title = "轮胎刚度异常"
text = f"请检查轮胎、胎压或定位（系数：{stiffness_factor:.1f}）"
title = "Abnormal tire stiffness"
text = f"Check tires, pressure, or alignment (Factor: {stiffness_factor:.1f})"
else:
return NoEntryAlert("paramsd临时错误")
return NoEntryAlert("paramsd Temporary Error")
return NoEntryAlert(alert_text_1=title, alert_text_2=text)
@@ -329,34 +329,34 @@ def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
cpu = max(sm['deviceState'].cpuTempC, default=0.)
gpu = max(sm['deviceState'].gpuTempC, default=0.)
temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
return NormalPermanentAlert("系统过热", f"温度 {temp:.0f} °C")
return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C")
def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
return NormalPermanentAlert("内存不足", f"已用{sm['deviceState'].memoryUsagePercent}%")
return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
x = max(sm['deviceState'].cpuUsagePercent, default=0.)
return NormalPermanentAlert("CPU占用过高", f"已用{x}%")
return NormalPermanentAlert("High CPU Usage", f"{x}% used")
def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
return NormalPermanentAlert("驾驶模型延迟", f"丢帧率{sm['modelV2'].frameDropPerc:.1f}%")
return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
text = "请启用自适应巡航以接入"
text = "Enable Adaptive Cruise to Engage"
if CP.brand == "honda":
text = "请打开主开关以接入"
text = "Enable Main Switch to Engage"
return NoEntryAlert(text)
def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
gb = sm['carControl'].actuators.accel / 4.
steer = sm['carControl'].actuators.torque
vals = f"油门：{round(gb * 100.)}%，转向：{round(steer * 100.)}%"
return NormalPermanentAlert("手柄模式", vals)
vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
return NormalPermanentAlert("Joystick Mode", vals)
def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -371,14 +371,14 @@ def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messagi
def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
personality = str(personality).title()
return NormalPermanentAlert(f"驾驶风格：{personality}", duration=1.5)
return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
def car_parser_result(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
results = Params().get("CanParserResult")
if results is None:
results = ""
return Alert(
"CAN错误：请检查连接！！",
"CAN Error: Check Connections!!",
results,
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.)
@@ -394,21 +394,21 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.joystickDebug: {
ET.WARNING: joystick_alert,
ET.PERMANENT: NormalPermanentAlert("手柄模式"),
ET.PERMANENT: NormalPermanentAlert("Joystick Mode"),
},
EventName.longitudinalManeuver: {
ET.WARNING: longitudinal_maneuver_alert,
ET.PERMANENT: NormalPermanentAlert("纵向操作模式",
"请确保前方道路无障碍"),
ET.PERMANENT: NormalPermanentAlert("Longitudinal Maneuver Mode",
"Ensure road ahead is clear"),
},
EventName.selfdriveInitializing: {
ET.NO_ENTRY: NoEntryAlert("系统初始化中"),
ET.NO_ENTRY: NoEntryAlert("System Initializing"),
},
EventName.startup: {
ET.PERMANENT: StartupAlert("随时准备接管")
ET.PERMANENT: StartupAlert("Be ready to take over at any time")
},
EventName.startupMaster: {
@@ -416,29 +416,29 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
},
EventName.startupNoControl: {
ET.PERMANENT: StartupAlert("行车记录仪模式"),
ET.NO_ENTRY: NoEntryAlert("行车记录仪模式"),
ET.PERMANENT: StartupAlert("Dashcam mode"),
ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
},
EventName.startupNoCar: {
ET.PERMANENT: StartupAlert("不支持车型，仅提供行车记录仪模式"),
ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
},
EventName.startupNoSecOcKey: {
ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
"安全密钥不可用",
ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
"Security Key Not Available",
priority=Priority.HIGH),
},
EventName.dashcamMode: {
ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
priority=Priority.LOWEST),
},
EventName.invalidLkasSetting: {
ET.PERMANENT: NormalPermanentAlert("LKAS设置无效",
"请切换原厂LKAS开关后再接入"),
ET.NO_ENTRY: NoEntryAlert("LKAS设置无效"),
ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
"Toggle stock LKAS on or off to engage"),
ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
},
EventName.cruiseMismatch: {
@@ -449,40 +449,40 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# read-only mode. This can be solved by adding your fingerprint.
# See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information
EventName.carUnrecognized: {
ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
"车辆未识别",
ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
"Car Unrecognized",
priority=Priority.LOWEST),
},
EventName.aeb: {
ET.PERMANENT: Alert(
"刹车！",
"紧急制动：存在碰撞风险",
"BRAKE!",
"Emergency Braking: Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.stopStop, 2.),
ET.NO_ENTRY: NoEntryAlert("AEB：存在碰撞风险"),
ET.NO_ENTRY: NoEntryAlert("AEB: Risk of Collision"),
},
EventName.stockAeb: {
ET.PERMANENT: Alert(
"刹车！",
"原厂AEB：存在碰撞风险",
"BRAKE!",
"Stock AEB: Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.stopStop, 2.),
ET.NO_ENTRY: NoEntryAlert("原厂AEB：存在碰撞风险"),
ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
},
EventName.fcw: {
ET.PERMANENT: Alert(
"刹车！",
"存在碰撞风险",
"BRAKE!",
"Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.stopStop, 2.),
},
EventName.ldw: {
ET.PERMANENT: Alert(
"检测到车道偏离",
"Lane Departure Detected",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
@@ -492,7 +492,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.steerTempUnavailableSilent: {
ET.WARNING: Alert(
"小鸽提醒：驻车中...",
"Steering Temporarily Unavailable",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 1.8),
@@ -500,7 +500,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.preDriverDistracted: {
ET.WARNING: Alert(
"请注意驾驶",
"Pay Attention",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
@@ -508,23 +508,23 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.promptDriverDistracted: {
ET.WARNING: Alert(
"请注意驾驶",
"驾驶员分心",
"Pay Attention",
"Driver Distracted",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
},
EventName.driverDistracted: {
ET.WARNING: Alert(
"请立即解除",
"驾驶员分心",
"DISENGAGE IMMEDIATELY",
"Driver Distracted",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
},
EventName.preDriverUnresponsive: {
ET.WARNING: Alert(
"请握住方向盘：未检测到人脸",
"Touch Steering Wheel: No Face Detected",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
@@ -532,31 +532,31 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.promptDriverUnresponsive: {
ET.WARNING: Alert(
"请握住方向盘",
"驾驶员无响应",
"Touch Steering Wheel",
"Driver Unresponsive",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
},
EventName.driverUnresponsive: {
ET.WARNING: Alert(
"请立即解除",
"驾驶员无响应",
"DISENGAGE IMMEDIATELY",
"Driver Unresponsive",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
},
EventName.manualRestart: {
ET.WARNING: Alert(
"请接管",
"请手动恢复驾驶",
"TAKE CONTROL",
"Resume Driving Manually",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
},
EventName.resumeRequired: {
ET.WARNING: Alert(
"按下恢复以结束静止",
"Press Resume to Exit Standstill",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
@@ -568,7 +568,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.preLaneChangeLeft: {
ET.WARNING: Alert(
"确认安全后向左转向开始变道",
"Steer Left to Start Lane Change Once Safe",
"",
AlertStatus.normal, AlertSize.none,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
@@ -576,7 +576,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.preLaneChangeRight: {
ET.WARNING: Alert(
"确认安全后向右转向开始变道",
"Steer Right to Start Lane Change Once Safe",
"",
AlertStatus.normal, AlertSize.none,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
@@ -584,7 +584,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.laneChangeBlocked: {
ET.WARNING: Alert(
"盲区内检测到车辆",
"Car Detected in Blindspot",
"",
AlertStatus.userPrompt, AlertSize.none,
Priority.LOW, VisualAlert.none, AudibleAlert.bsdWarning, .1),
@@ -592,7 +592,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.laneChange: {
ET.WARNING: Alert(
"正在变道",
"Changing Lanes",
"",
AlertStatus.normal, AlertSize.none,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
@@ -600,41 +600,41 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.steerSaturated: {
ET.WARNING: Alert(
"请接管",
"转向角超出限制",
"Take Control",
"Turn Exceeds Steering Limit",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
},
# Thrown when the fan is driven at >50% but is not rotating
EventName.fanMalfunction: {
ET.PERMANENT: NormalPermanentAlert("风扇故障", "可能是硬件问题"),
ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Likely Hardware Issue"),
},
# Camera is not outputting frames
EventName.cameraMalfunction: {
ET.PERMANENT: camera_malfunction_alert,
ET.SOFT_DISABLE: soft_disable_alert("摄像头故障"),
ET.NO_ENTRY: NoEntryAlert("摄像头故障：请重启设备"),
ET.SOFT_DISABLE: soft_disable_alert("Camera Malfunction"),
ET.NO_ENTRY: NoEntryAlert("Camera Malfunction: Reboot Your Device"),
},
# Camera framerate too low
EventName.cameraFrameRate: {
ET.PERMANENT: NormalPermanentAlert("摄像头帧率过低", "请重启设备"),
ET.SOFT_DISABLE: soft_disable_alert("摄像头帧率过低"),
ET.NO_ENTRY: NoEntryAlert("摄像头帧率过低：请重启设备"),
ET.PERMANENT: NormalPermanentAlert("Camera Frame Rate Low", "Reboot your Device"),
ET.SOFT_DISABLE: soft_disable_alert("Camera Frame Rate Low"),
ET.NO_ENTRY: NoEntryAlert("Camera Frame Rate Low: Reboot Your Device"),
},
# Unused
EventName.locationdTemporaryError: {
ET.NO_ENTRY: NoEntryAlert("locationd临时错误"),
ET.SOFT_DISABLE: soft_disable_alert("locationd临时错误"),
ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
},
EventName.locationdPermanentError: {
ET.NO_ENTRY: NoEntryAlert("locationd永久错误"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd永久错误"),
ET.PERMANENT: NormalPermanentAlert("locationd永久错误"),
ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
},
# openpilot tries to learn certain parameters about your car by observing
@@ -647,13 +647,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
EventName.paramsdTemporaryError: {
ET.NO_ENTRY: paramsd_invalid_alert,
ET.SOFT_DISABLE: soft_disable_alert("paramsd临时错误"),
ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
},
EventName.paramsdPermanentError: {
ET.NO_ENTRY: NoEntryAlert("paramsd永久错误"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd永久错误"),
ET.PERMANENT: NormalPermanentAlert("paramsd永久错误"),
ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
},
# ********** events that affect controls state transitions **********
@@ -672,12 +672,12 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.buttonCancel: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
ET.NO_ENTRY: NoEntryAlert("已按下取消"),
ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"),
},
EventName.brakeHold: {
ET.WARNING: Alert(
"按下恢复以解除制动保持",
"Press Resume to Exit Brake Hold",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
@@ -685,18 +685,18 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.parkBrake: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
ET.NO_ENTRY: NoEntryAlert("驻车制动已启用"),
ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
},
EventName.pedalPressed: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
ET.NO_ENTRY: NoEntryAlert("踏板被踩下",
ET.NO_ENTRY: NoEntryAlert("Pedal Pressed",
visual_alert=VisualAlert.brakePressed),
},
EventName.preEnableStandstill: {
ET.PRE_ENABLE: Alert(
"松开刹车以接入",
"Release Brake to Engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
@@ -724,27 +724,27 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
},
EventName.resumeBlocked: {
ET.NO_ENTRY: NoEntryAlert("按下设定以接入"),
ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"),
},
EventName.wrongCruiseMode: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
ET.NO_ENTRY: NoEntryAlert("自适应巡航已关闭"),
ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"),
},
EventName.steerTempUnavailable: {
ET.SOFT_DISABLE: soft_disable_alert("转向暂时不可用"),
ET.NO_ENTRY: NoEntryAlert("转向暂时不可用"),
ET.SOFT_DISABLE: soft_disable_alert("Steering Temporarily Unavailable"),
ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
},
EventName.steerTimeLimit: {
ET.SOFT_DISABLE: soft_disable_alert("车辆转向时间限制"),
ET.NO_ENTRY: NoEntryAlert("车辆转向时间限制"),
ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"),
ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"),
},
EventName.outOfSpace: {
ET.PERMANENT: out_of_space_alert,
ET.NO_ENTRY: NoEntryAlert("存储空间不足"),
ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
},
EventName.belowEngageSpeed: {
@@ -753,36 +753,36 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.sensorDataInvalid: {
ET.PERMANENT: Alert(
"传感器数据无效",
"可能是硬件问题",
"Sensor Data Invalid",
"Possible Hardware Issue",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
ET.NO_ENTRY: NoEntryAlert("传感器数据无效"),
ET.SOFT_DISABLE: soft_disable_alert("传感器数据无效"),
ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
},
EventName.noGps: {
ET.PERMANENT: Alert(
"GPS信号弱",
"请确保设备具有开阔的天空视野",
"Poor GPS reception",
"Ensure device has a clear view of the sky",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
},
EventName.tooDistracted: {
ET.NO_ENTRY: NoEntryAlert("分心程度过高"),
ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
},
EventName.overheat: {
ET.PERMANENT: overheat_alert,
ET.SOFT_DISABLE: soft_disable_alert("系统过热"),
ET.NO_ENTRY: NoEntryAlert("系统过热"),
ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
ET.NO_ENTRY: NoEntryAlert("System Overheated"),
},
EventName.wrongGear: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), #carrot
#ET.SOFT_DISABLE: user_soft_disable_alert("Gear not D"),
ET.NO_ENTRY: NoEntryAlert("挡位非D挡"),
ET.NO_ENTRY: NoEntryAlert("Gear not D"),
},
# This alert is thrown when the calibration angles are outside of the acceptable range.
@@ -792,40 +792,40 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# See https://comma.ai/setup for more information
EventName.calibrationInvalid: {
ET.PERMANENT: calibration_invalid_alert,
ET.SOFT_DISABLE: soft_disable_alert("校准无效：请重新安装设备并重新校准"),
ET.NO_ENTRY: NoEntryAlert("校准无效：请重新安装设备并重新校准"),
ET.SOFT_DISABLE: soft_disable_alert("Calibration Invalid: Remount Device & Recalibrate"),
ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"),
},
EventName.calibrationIncomplete: {
ET.PERMANENT: calibration_incomplete_alert,
ET.SOFT_DISABLE: soft_disable_alert("校准未完成"),
ET.NO_ENTRY: NoEntryAlert("校准进行中"),
ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
},
EventName.calibrationRecalibrating: {
ET.PERMANENT: calibration_incomplete_alert,
ET.SOFT_DISABLE: soft_disable_alert("检测到设备重新安装：重新校准中"),
ET.NO_ENTRY: NoEntryAlert("检测到重新安装：正在重新校准"),
ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"),
},
EventName.doorOpen: {
ET.SOFT_DISABLE: user_soft_disable_alert("车门已打开"),
ET.NO_ENTRY: NoEntryAlert("车门已打开"),
ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"),
ET.NO_ENTRY: NoEntryAlert("Door Open"),
},
EventName.seatbeltNotLatched: {
ET.SOFT_DISABLE: user_soft_disable_alert("安全带未扣"),
ET.NO_ENTRY: NoEntryAlert("安全带未扣"),
ET.SOFT_DISABLE: user_soft_disable_alert("Seatbelt Unlatched"),
ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
},
EventName.espDisabled: {
ET.SOFT_DISABLE: soft_disable_alert("电子稳定控制已关闭"),
ET.NO_ENTRY: NoEntryAlert("电子稳定控制已关闭"),
ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Disabled"),
ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"),
},
EventName.lowBattery: {
ET.SOFT_DISABLE: soft_disable_alert("电量低"),
ET.NO_ENTRY: NoEntryAlert("电量低"),
ET.SOFT_DISABLE: soft_disable_alert("Low Battery"),
ET.NO_ENTRY: NoEntryAlert("Low Battery"),
},
# Different openpilot services communicate between each other at a certain
@@ -833,41 +833,41 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# is thrown. This can mean a service crashed, did not broadcast a message for
# ten times the regular interval, or the average interval is more than 10% too high.
EventName.commIssue: {
ET.SOFT_DISABLE: soft_disable_alert("进程间通信异常"),
ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"),
ET.NO_ENTRY: comm_issue_alert,
},
EventName.commIssueAvgFreq: {
ET.SOFT_DISABLE: soft_disable_alert("进程间通信速率低"),
ET.NO_ENTRY: NoEntryAlert("进程间通信速率低"),
ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"),
ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"),
},
EventName.selfdrivedLagging: {
ET.SOFT_DISABLE: soft_disable_alert("系统运行缓慢"),
ET.NO_ENTRY: NoEntryAlert("自驾进程延迟：请重启设备"),
ET.SOFT_DISABLE: soft_disable_alert("System Lagging"),
ET.NO_ENTRY: NoEntryAlert("Selfdrive Process Lagging: Reboot Your Device"),
},
# Thrown when manager detects a service exited unexpectedly while driving
EventName.processNotRunning: {
ET.NO_ENTRY: process_not_running_alert,
ET.SOFT_DISABLE: soft_disable_alert("进程未运行"),
ET.SOFT_DISABLE: soft_disable_alert("Process Not Running"),
},
EventName.radarFault: {
ET.SOFT_DISABLE: soft_disable_alert("雷达错误：请重启车辆"),
ET.NO_ENTRY: NoEntryAlert("雷达错误：请重启车辆"),
ET.SOFT_DISABLE: soft_disable_alert("Radar Error: Restart the Car"),
ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
},
EventName.radarTempUnavailable: {
ET.SOFT_DISABLE: soft_disable_alert("雷达暂时不可用"),
ET.NO_ENTRY: NoEntryAlert("雷达暂时不可用"),
ET.SOFT_DISABLE: soft_disable_alert("Radar Temporarily Unavailable"),
ET.NO_ENTRY: NoEntryAlert("Radar Temporarily Unavailable"),
},
# Every frame from the camera should be processed by the model. If modeld
# is not processing frames fast enough they have to be dropped. This alert is
# thrown when over 20% of frames are dropped.
EventName.modeldLagging: {
ET.SOFT_DISABLE: soft_disable_alert("驾驶模型延迟"),
ET.NO_ENTRY: NoEntryAlert("驾驶模型延迟"),
ET.SOFT_DISABLE: soft_disable_alert("Driving Model Lagging"),
ET.NO_ENTRY: NoEntryAlert("Driving Model Lagging"),
ET.PERMANENT: modeld_lagging_alert,
},
@@ -877,45 +877,45 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# usually means the model has trouble understanding the scene. This is used
# as a heuristic to warn the driver.
EventName.posenetInvalid: {
ET.SOFT_DISABLE: soft_disable_alert("Posenet速度无效"),
ET.SOFT_DISABLE: soft_disable_alert("Posenet Speed Invalid"),
ET.NO_ENTRY: posenet_invalid_alert,
},
# When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
# alert the driver the device might have fallen from the windshield.
EventName.deviceFalling: {
ET.SOFT_DISABLE: soft_disable_alert("设备从支架掉落"),
ET.NO_ENTRY: NoEntryAlert("设备从支架掉落"),
ET.SOFT_DISABLE: soft_disable_alert("Device Fell Off Mount"),
ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"),
},
EventName.lowMemory: {
ET.SOFT_DISABLE: soft_disable_alert("内存不足：请重启设备"),
ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
ET.PERMANENT: low_memory_alert,
ET.NO_ENTRY: NoEntryAlert("内存不足：请重启设备"),
ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
},
EventName.accFaulted: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航acc故障：请重启车辆"),
ET.PERMANENT: NormalPermanentAlert("巡航故障：重启车辆后再接入"),
ET.NO_ENTRY: NoEntryAlert("巡航故障：请重启车辆"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise accFault: Restart the Car"),
ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
EventName.espActive: {
ET.SOFT_DISABLE: soft_disable_alert("电子稳定控制介入"),
ET.NO_ENTRY: NoEntryAlert("电子稳定控制介入"),
ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Active"),
ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
},
EventName.controlsMismatch: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("控制不匹配"),
ET.NO_ENTRY: NoEntryAlert("控制不匹配"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
},
# Sometimes the USB stack on the device can get into a bad state
# causing the connection to the panda to be lost
EventName.usbError: {
ET.SOFT_DISABLE: soft_disable_alert("USB错误：请重启设备"),
ET.PERMANENT: NormalPermanentAlert("USB错误：请重启设备", ""),
ET.NO_ENTRY: NoEntryAlert("USB错误：请重启设备"),
ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"),
ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
},
# This alert can be thrown for the following reasons:
@@ -924,46 +924,46 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# If you're not writing a new car port, this is usually cause by faulty wiring
EventName.canError: {
ET.PERMANENT: car_parser_result,
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN错误"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
#ET.PERMANENT: Alert(
# "CAN Error: Check Connections",
# "",
# AlertStatus.normal, AlertSize.small,
# Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
ET.NO_ENTRY: NoEntryAlert("CAN错误：请检查连接"),
ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
},
EventName.canBusMissing: {
ET.PERMANENT: car_parser_result,
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN总线已断开"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Bus Disconnected"),
#ET.PERMANENT: Alert(
# "CAN Bus Disconnected: Likely Faulty Cable",
# "",
# AlertStatus.normal, AlertSize.small,
# Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
ET.NO_ENTRY: NoEntryAlert("CAN总线断开：请检查连接"),
ET.NO_ENTRY: NoEntryAlert("CAN Bus Disconnected: Check Connections"),
},
EventName.steerUnavailable: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS故障：请重启车辆"),
ET.PERMANENT: ImmediateDisableAlert("LKAS故障：重启车辆后再接入"),
ET.NO_ENTRY: NoEntryAlert("LKAS故障：请重启车辆"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS Fault: Restart the Car"),
ET.PERMANENT: ImmediateDisableAlert("LKAS Fault: Restart the car to engage"),
ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
},
EventName.reverseGear: {
ET.PERMANENT: Alert(
"倒车\n档",
"Reverse\nGear",
"",
AlertStatus.normal, AlertSize.none,
Priority.LOWEST, VisualAlert.none, AudibleAlert.reverseGear, .2, creation_delay=0.5),
ET.SOFT_DISABLE: SoftDisableAlert("倒挡"),
ET.NO_ENTRY: NoEntryAlert("倒挡"),
ET.SOFT_DISABLE: SoftDisableAlert("Reverse Gear"),
ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
},
# On cars that use stock ACC the car can decide to cancel ACC for various reasons.
# When this happens we can no long control the car so the user needs to be warned immediately.
EventName.cruiseDisabled: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航已关闭"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"),
},
# When the relay in the harness box opens the CAN bus between the LKAS camera
@@ -971,15 +971,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# are received on the car side this usually means the relay hasn't opened correctly
# and this alert is thrown.
EventName.relayMalfunction: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("线束继电器故障"),
ET.PERMANENT: NormalPermanentAlert("线束继电器故障", "请检查硬件"),
ET.NO_ENTRY: NoEntryAlert("线束继电器故障"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Relay Malfunction"),
ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Check Hardware"),
ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"),
},
EventName.speedTooLow: {
ET.IMMEDIATE_DISABLE: Alert(
"openpilot已取消",
"车速过低",
"openpilot Canceled",
"Speed too low",
AlertStatus.normal, AlertSize.mid,
Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
},
@@ -987,17 +987,17 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# When the car is driving faster than most cars in the training data, the model outputs can be unpredictable.
EventName.speedTooHigh: {
ET.WARNING: Alert(
"车速过高",
"模型在该车速下存在不确定性",
"Speed Too High",
"Model uncertain at this speed",
AlertStatus.userPrompt, AlertSize.mid,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.),
ET.NO_ENTRY: NoEntryAlert("请减速后接入"),
ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
},
EventName.vehicleSensorsInvalid: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("车辆传感器无效"),
ET.PERMANENT: NormalPermanentAlert("车辆传感器校准中", "请行驶以完成校准"),
ET.NO_ENTRY: NoEntryAlert("车辆传感器校准中"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
},
EventName.personalityChanged: {
@@ -1006,7 +1006,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.softHold: {
ET.WARNING: Alert(
"软保持",
"SoftHold",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
@@ -1044,14 +1044,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
},
EventName.trafficSignChanged: {
ET.WARNING: Alert(
"信号灯已变化",
"신호가바뀌었어요.",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.trafficSignChanged, 1.),
},
EventName.turningLeft: {
ET.WARNING: Alert(
"左转中",
"Turning Left",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
@@ -1059,7 +1059,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.turningRight: {
ET.WARNING: Alert(
"右转中",
"Turning Right",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),

8
selfdrive/ui/translations/main_ar.ts
View File

@@ -1955,14 +1955,6 @@ This may take up to a minute.</source>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_de.ts
View File

@@ -1939,14 +1939,6 @@ This may take up to a minute.</source>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_es.ts
View File

@@ -1939,14 +1939,6 @@ Esto puede tardar un minuto.</translation>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_fr.ts
View File

@@ -1939,14 +1939,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_ja.ts
View File

@@ -1935,14 +1935,6 @@ This may take up to a minute.</source>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_ko.ts
View File

@@ -1981,14 +1981,6 @@ This may take up to a minute.</source>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_pt-BR.ts
View File

@@ -1939,14 +1939,6 @@ Isso pode levar até um minuto.</translation>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_th.ts
View File

@@ -1935,14 +1935,6 @@ This may take up to a minute.</source>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_tr.ts
View File

@@ -1929,14 +1929,6 @@ This may take up to a minute.</source>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_zh-CHS.ts
View File

@@ -1913,14 +1913,6 @@ This may take up to a minute.</source>
<source>Disable Updates</source>
<translation>禁用自动更新</translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>

8
selfdrive/ui/translations/main_zh-CHT.ts
View File

@@ -1935,14 +1935,6 @@ This may take up to a minute.</source>
<source>Disable Updates</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>OffRoad Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SET OFF</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>