FrogPilot 0.9.7
This commit is contained in:
James
parent
0fb01b95a7
commit
2d115c7882
277
.github/workflows/compile_frogpilot.yaml
vendored
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277
.github/workflows/compile_frogpilot.yaml
vendored
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name: Compile FrogPilot
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on:
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workflow_dispatch:
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inputs:
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runner:
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description: "Select the runner"
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required: true
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default: "c3"
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type: choice
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options:
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- c3
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- c3x
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not_vetted:
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description: "This branch is not vetted"
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required: false
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default: "false"
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type: boolean
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publish_frogpilot:
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description: "Push to FrogPilot"
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required: false
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default: "false"
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type: boolean
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publish_staging:
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description: "Push to FrogPilot-Staging"
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required: false
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default: "false"
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type: boolean
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publish_testing:
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description: "Push to FrogPilot-Testing"
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required: false
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default: "false"
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type: boolean
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publish_custom_branch:
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description: "Push to custom branch:"
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required: false
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default: ""
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type: string
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update_translations:
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description: "Update missing/outdated translations"
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required: false
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default: "false"
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type: boolean
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vet_existing_translations:
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description: "Vet existing translations"
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required: false
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default: "false"
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type: boolean
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env:
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BASEDIR: "${{ github.workspace }}"
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BUILD_DIR: /data/openpilot
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OPENAI_API_KEY: "${{ secrets.OPENAI_API_KEY }}"
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jobs:
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get_branch:
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runs-on:
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- self-hosted
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- ${{ github.event.inputs.runner }}
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outputs:
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branch: ${{ steps.get_branch.outputs.branch }}
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python_version: ${{ steps.get_python_version.outputs.python_version }}
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steps:
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- name: Determine Current Branch on Runner
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id: get_branch
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run: |
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cd $BUILD_DIR
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BRANCH=$(git rev-parse --abbrev-ref HEAD)
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echo "branch=$BRANCH" >> $GITHUB_OUTPUT
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- name: Get Python Version from Runner
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id: get_python_version
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run: |
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PYTHON_VERSION=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")
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echo "python_version=$PYTHON_VERSION" >> $GITHUB_OUTPUT
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translate:
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if: inputs.update_translations
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needs: get_branch
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runs-on: ubuntu-latest
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steps:
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- name: Configure Git Identity
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run: |
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git config --global user.name "James"
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git config --global user.email "91348155+FrogAi@users.noreply.github.com"
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- name: Checkout Required Files
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uses: actions/checkout@v4
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with:
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ref: ${{ needs.get_branch.outputs.branch }}
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sparse-checkout: |
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frogpilot/ui/
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selfdrive/controls/lib/alerts_offroad.json
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selfdrive/ui/
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selfdrive/ui/update_translations.py
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selfdrive/ui/translations/
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selfdrive/ui/translations/auto_translate.py
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- name: Set Up Python
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uses: actions/setup-python@v4
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with:
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python-version: "${{ needs.get_branch.outputs.python_version }}"
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- name: Install Dependencies
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run: pip install requests
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- name: Install Qt5 Tools
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run: sudo apt update && sudo apt install -y qttools5-dev-tools
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- name: Update Translations
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run: python selfdrive/ui/update_translations.py --vanish
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- name: Update Missing Translations
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continue-on-error: true
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run: python selfdrive/ui/translations/auto_translate.py --all-files
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timeout-minutes: 300
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- name: Vet Existing Translations
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if: github.event.inputs.vet_existing_translations == 'true'
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continue-on-error: true
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run: python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations
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timeout-minutes: 300
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- name: Commit and Push Translation Updates
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run: |
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if git diff --quiet selfdrive/ui/translations/*.ts; then
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echo "No translation updates detected."
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exit 0
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fi
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git fetch --unshallow origin ${{ needs.get_branch.outputs.branch }}
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git checkout ${{ needs.get_branch.outputs.branch }}
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git add selfdrive/ui/translations/*.ts
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git commit --amend --no-edit
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git push --force origin ${{ needs.get_branch.outputs.branch }}
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build_and_push:
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needs:
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- get_branch
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- translate
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if: always()
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runs-on:
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- self-hosted
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- ${{ github.event.inputs.runner }}
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permissions:
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contents: write
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defaults:
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run:
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working-directory: ${{ env.BUILD_DIR }}
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steps:
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- name: Configure Git Identity
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run: |
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git config --global http.postBuffer 104857600
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git config --global user.name "James"
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git config --global user.email "91348155+FrogAi@users.noreply.github.com"
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- name: Update Repository
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run: |
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git remote set-url origin https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/FrogPilot.git
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if [ "${{ github.event.inputs.update_translations }}" = "true" ]; then
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git fetch origin ${{ needs.get_branch.outputs.branch }}
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git reset --hard FETCH_HEAD
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fi
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- name: Take Ownership of Build
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run: |
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sudo chown -R $(whoami):$(whoami) .
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- name: Finalize Build
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run: |
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rm -f .clang-tidy
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rm -f .dockerignore
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rm -f .editorconfig
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rm -f .gitattributes
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rm -f .gitmodules
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rm -f .lfsconfig
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rm -f .overlay_init
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rm -f .pre-commit-config.yaml
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rm -f .sconsign.dblite
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rm -f codecov.yml
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rm -f conftest.py
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rm -f poetry.lock
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rm -f pyproject.toml
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rm -f teleoprtc
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rm -f Dockerfile.openpilot
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rm -f Dockerfile.openpilot_base
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rm -f Jenkinsfile
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rm -f panda/board/obj/.placeholder
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rm -f panda/board/obj/bootstub.panda.elf
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rm -f panda/board/obj/bootstub.panda_h7.elf
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rm -f panda/board/obj/panda.bin
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rm -f panda/board/obj/panda.elf
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rm -f panda/board/obj/panda_h7.bin
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rm -f panda/board/obj/panda_h7.elf
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rm -f panda/board/obj/version
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find . -name '*.a' -delete
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find . -name '*.o' -delete
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find . -name '*.onnx' -delete
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find . -name '*.os' -delete
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find . -name '*.pyc' -delete
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find . -name 'moc_*' -delete
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rm -rf .devcontainer/
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rm -rf .vscode/
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rm -rf body/
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rm -rf opendbc/generator/
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rm -rf release/
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rm -rf scripts/
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rm -rf site_scons/
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rm -rf teleoprtc_repo/
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find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
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find .github/workflows -mindepth 1 ! \( \
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-type f \( \
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-name 'compile_frogpilot.yaml' -o \
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-name 'review_pull_request.yaml' -o \
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-name 'schedule_update.yaml' -o \
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-name 'update_pr_branch.yaml' -o \
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-name 'update_release_branch.yaml' -o \
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-name 'update_tinygrad.yaml' \
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\) \
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\) -exec rm -rf {} +
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find panda/board/jungle -type f ! -name '__init__.py' -delete
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find panda/board/jungle -type d -empty -delete
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find third_party/ -name '*x86*' -exec rm -rf {} +
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find third_party/ -name '*Darwin*' -exec rm -rf {} +
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find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
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find . -name 'SConstruct' -delete
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find . -name 'SConscript' -delete
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find . -type d \( -iname "debug" -o -iname "test" -o -iname "tests" \) -exec rm -rf {} +
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find . -type d -empty ! -path "./.git*" -delete
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find . -type d -name '__pycache__' -exec rm -rf {} +
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find . -type f -regex '.*matlab.*\.md' -delete
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touch prebuilt
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if [ "${{ github.event.inputs.not_vetted }}" = "true" ]; then
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touch not_vetted
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fi
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- name: Add the update_date file
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if: github.event.inputs.publish_staging == 'true'
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run: |
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curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping."
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- name: Commit Build
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run: |
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git add -f .
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git commit -m "Compile FrogPilot"
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git push --force origin HEAD
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if [ "${{ github.event.inputs.publish_frogpilot }}" = "true" ]; then
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git push --force origin HEAD:"FrogPilot"
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fi
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if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
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git push --force origin HEAD:"FrogPilot-Staging"
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fi
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if [ "${{ github.event.inputs.publish_testing }}" = "true" ]; then
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git push --force origin HEAD:"FrogPilot-Testing"
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fi
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if [ -n "${{ github.event.inputs.publish_custom_branch }}" ]; then
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git push --force origin HEAD:"${{ github.event.inputs.publish_custom_branch }}"
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fi
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34
.github/workflows/review_pull_request.yaml
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34
.github/workflows/review_pull_request.yaml
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name: Review Pull Request
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on:
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pull_request_target:
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types: [opened, reopened]
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env:
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GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
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jobs:
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pr_check:
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runs-on: ubuntu-latest
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steps:
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- name: Exit If PR Opened by FrogAi
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if: ${{ github.actor == 'FrogAi' }}
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run: |
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echo PR opened or reopened by FrogAi. No action needed.
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exit 0
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- name: Close PR for Invalid Target Branch
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if: ${{ github.base_ref != 'MAKE-PRS-HERE' }}
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run: |
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gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
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-f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
|
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gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \
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-X PATCH \
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-f state="closed"
|
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- name: Acknowledge PR for Valid Target Branch
|
||||||
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if: ${{ github.base_ref == 'MAKE-PRS-HERE' }}
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run: |
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gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
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-f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"
|
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57
.github/workflows/schedule_update.yaml
vendored
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57
.github/workflows/schedule_update.yaml
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name: Schedule FrogPilot Update
|
||||||
|
|
||||||
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on:
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workflow_dispatch:
|
||||||
|
inputs:
|
||||||
|
scheduled_date:
|
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|
description: "Enter the date to update the \"FrogPilot\" branch (YYYY-MM-DD)"
|
||||||
|
required: true
|
||||||
|
|
||||||
|
env:
|
||||||
|
BRANCH: FrogPilot-Staging
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|
|
||||||
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jobs:
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||||||
|
schedule-update:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
steps:
|
||||||
|
- name: Configure Git Identity
|
||||||
|
run: |
|
||||||
|
git config --global user.name "James"
|
||||||
|
git config --global user.email "91348155+FrogAi@users.noreply.github.com"
|
||||||
|
|
||||||
|
- name: Checkout ${{ env.BRANCH }}
|
||||||
|
uses: actions/checkout@v3
|
||||||
|
with:
|
||||||
|
ref: ${{ env.BRANCH }}
|
||||||
|
fetch-depth: 3
|
||||||
|
|
||||||
|
- name: Schedule Update for ${{ github.event.inputs.scheduled_date }}
|
||||||
|
run: |
|
||||||
|
echo "${{ github.event.inputs.scheduled_date }}" > .github/update_date
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||||||
|
git add .github/update_date
|
||||||
|
|
||||||
|
- name: Get Target Commit (Second Most Recent)
|
||||||
|
id: get_target
|
||||||
|
run: |
|
||||||
|
TARGET_COMMIT=$(git rev-parse HEAD~1)
|
||||||
|
|
||||||
|
AUTHOR_DATE=$(git show -s --format=%aD "$TARGET_COMMIT")
|
||||||
|
COMMITTER_DATE=$(git show -s --format=%cD "$TARGET_COMMIT")
|
||||||
|
|
||||||
|
echo "AUTHOR_DATE=$AUTHOR_DATE" >> $GITHUB_ENV
|
||||||
|
echo "COMMITTER_DATE=$COMMITTER_DATE" >> $GITHUB_ENV
|
||||||
|
echo "TARGET_COMMIT=$TARGET_COMMIT" >> $GITHUB_ENV
|
||||||
|
|
||||||
|
- name: Create Fixup Commit for ${{ env.TARGET_COMMIT }}
|
||||||
|
run: git commit --fixup="${{ env.TARGET_COMMIT }}"
|
||||||
|
|
||||||
|
- name: Autosquash Fixup into Target Commit
|
||||||
|
run: |
|
||||||
|
GIT_SEQUENCE_EDITOR=: git rebase --autosquash -i HEAD~3
|
||||||
|
|
||||||
|
- name: Restore Timestamps on Final Two Commits
|
||||||
|
run: |
|
||||||
|
git rebase --exec "GIT_COMMITTER_DATE='${{ env.COMMITTER_DATE }}' git commit --amend --no-edit --date='${{ env.AUTHOR_DATE }}'" HEAD~2
|
||||||
|
|
||||||
|
- name: Push Updated ${{ env.BRANCH }} Branch
|
||||||
|
run: git push origin "${{ env.BRANCH }}" --force-with-lease
|
||||||
88
.github/workflows/update_pr_branch.yaml
vendored
Normal file
88
.github/workflows/update_pr_branch.yaml
vendored
Normal file
@ -0,0 +1,88 @@
|
|||||||
|
name: Update MAKE-PRS-HERE
|
||||||
|
|
||||||
|
on:
|
||||||
|
push:
|
||||||
|
branches:
|
||||||
|
- FrogPilot-Staging
|
||||||
|
|
||||||
|
env:
|
||||||
|
GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
|
||||||
|
|
||||||
|
SOURCE_BRANCH: FrogPilot-Staging
|
||||||
|
TARGET_BRANCH: MAKE-PRS-HERE
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
update_branch:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
steps:
|
||||||
|
- name: Configure Git Identity
|
||||||
|
run: |
|
||||||
|
git config --global user.name "James"
|
||||||
|
git config --global user.email "91348155+FrogAi@users.noreply.github.com"
|
||||||
|
|
||||||
|
- name: Checkout ${{ env.SOURCE_BRANCH }}
|
||||||
|
uses: actions/checkout@v3
|
||||||
|
with:
|
||||||
|
persist-credentials: false
|
||||||
|
fetch-depth: 0
|
||||||
|
ref: ${{ env.SOURCE_BRANCH }}
|
||||||
|
|
||||||
|
- name: Find "Compile FrogPilot" Commit in ${{ env.SOURCE_BRANCH }}
|
||||||
|
id: find_parent
|
||||||
|
run: |
|
||||||
|
COMMIT=$(git rev-list HEAD -n 1 --grep="Compile FrogPilot")
|
||||||
|
[ -z "$COMMIT" ] && echo "Compile commit not found." >&2 && exit 1
|
||||||
|
|
||||||
|
PARENT=$(git rev-list --parents -n 1 "$COMMIT" | awk '{print $2}')
|
||||||
|
[ -z "$PARENT" ] && echo "Parent commit not found." >&2 && exit 1
|
||||||
|
|
||||||
|
echo "parent_commit=$PARENT" >> "$GITHUB_OUTPUT"
|
||||||
|
echo "compile_commit=$COMMIT" >> "$GITHUB_OUTPUT"
|
||||||
|
|
||||||
|
- name: Fetch and Checkout ${{ env.TARGET_BRANCH }}
|
||||||
|
run: |
|
||||||
|
git fetch origin "${{ env.TARGET_BRANCH }}"
|
||||||
|
git checkout "${{ env.TARGET_BRANCH }}"
|
||||||
|
|
||||||
|
- name: Clean ${{ env.TARGET_BRANCH }} and Apply Updates from ${{ env.SOURCE_BRANCH }}
|
||||||
|
run: |
|
||||||
|
git rm -r --ignore-unmatch .
|
||||||
|
git clean -fdx
|
||||||
|
git checkout "${{ steps.find_parent.outputs.parent_commit }}" -- .
|
||||||
|
|
||||||
|
COMPILE_COMMIT="${{ steps.find_parent.outputs.compile_commit }}"
|
||||||
|
SOURCE_HEAD=$(git rev-parse "origin/${{ env.SOURCE_BRANCH }}")
|
||||||
|
|
||||||
|
[ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ] && git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
|
||||||
|
|
||||||
|
rm -f .github/update_date
|
||||||
|
|
||||||
|
git add --all
|
||||||
|
|
||||||
|
- name: Commit and Push to ${{ env.TARGET_BRANCH }}
|
||||||
|
run: |
|
||||||
|
if git diff --staged --quiet; then
|
||||||
|
echo "Working tree is clean. No changes to commit."
|
||||||
|
exit 0
|
||||||
|
fi
|
||||||
|
|
||||||
|
TZ_VALUE="America/Phoenix"
|
||||||
|
day=$(TZ="$TZ_VALUE" date +"%-d")
|
||||||
|
month=$(TZ="$TZ_VALUE" date +"%B")
|
||||||
|
year=$(TZ="$TZ_VALUE" date +"%Y")
|
||||||
|
|
||||||
|
case $day in
|
||||||
|
11|12|13) s=th ;;
|
||||||
|
*) case $((day % 10)) in 1) s=st ;; 2) s=nd ;; 3) s=rd ;; *) s=th ;; esac ;;
|
||||||
|
esac
|
||||||
|
|
||||||
|
commit_message="${month} ${day}${s}, ${year} Update"
|
||||||
|
|
||||||
|
if git log -1 --pretty=%s | grep -q "$commit_message"; then
|
||||||
|
git commit --amend --no-edit
|
||||||
|
else
|
||||||
|
git commit -m "$commit_message"
|
||||||
|
fi
|
||||||
|
|
||||||
|
git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
|
||||||
|
git push origin "${{ env.TARGET_BRANCH }}" --force
|
||||||
131
.github/workflows/update_release_branch.yaml
vendored
Normal file
131
.github/workflows/update_release_branch.yaml
vendored
Normal file
@ -0,0 +1,131 @@
|
|||||||
|
name: Update FrogPilot Branch
|
||||||
|
|
||||||
|
on:
|
||||||
|
schedule:
|
||||||
|
- cron: "0 18 * * 6"
|
||||||
|
|
||||||
|
env:
|
||||||
|
GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
|
||||||
|
|
||||||
|
BRANCH_FROGPILOT: FrogPilot
|
||||||
|
BRANCH_PREVIOUS: FrogPilot-Previous
|
||||||
|
BRANCH_STAGING: FrogPilot-Staging
|
||||||
|
|
||||||
|
TZ: America/Phoenix
|
||||||
|
|
||||||
|
UPDATE_FILE: .github/update_date
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
check_update:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
outputs:
|
||||||
|
update_due: ${{ steps.check_update.outputs.update_due }}
|
||||||
|
scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
|
||||||
|
steps:
|
||||||
|
- name: Download the "update_date" File
|
||||||
|
id: download_update
|
||||||
|
run: |
|
||||||
|
curl -fLsS "https://raw.githubusercontent.com/FrogAi/FrogPilot/${{ env.BRANCH_STAGING }}/${{ env.UPDATE_FILE }}" -o update_date || touch update_date_missing
|
||||||
|
|
||||||
|
- name: Check If Update Is Due
|
||||||
|
id: check_update
|
||||||
|
run: |
|
||||||
|
if [ -f update_date_missing ]; then
|
||||||
|
echo "update_due=false" >> "$GITHUB_OUTPUT"
|
||||||
|
exit 0
|
||||||
|
fi
|
||||||
|
|
||||||
|
SCHEDULED_DATE=$(cat update_date)
|
||||||
|
CURRENT_DATE=$(TZ="${{ env.TZ }}" date +%F)
|
||||||
|
|
||||||
|
if [ "$SCHEDULED_DATE" != "$CURRENT_DATE" ]; then
|
||||||
|
echo "update_due=false" >> "$GITHUB_OUTPUT"
|
||||||
|
exit 0
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo "update_due=true" >> "$GITHUB_OUTPUT"
|
||||||
|
echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
|
||||||
|
|
||||||
|
update_branch:
|
||||||
|
needs: check_update
|
||||||
|
if: ${{ needs.check_update.outputs.update_due == 'true' }}
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
steps:
|
||||||
|
- name: Configure Git Identity
|
||||||
|
run: |
|
||||||
|
git config --global user.name "James"
|
||||||
|
git config --global user.email "91348155+FrogAi@users.noreply.github.com"
|
||||||
|
|
||||||
|
- name: Checkout ${{ env.BRANCH_STAGING }}
|
||||||
|
uses: actions/checkout@v3
|
||||||
|
with:
|
||||||
|
fetch-depth: 0
|
||||||
|
ref: ${{ env.BRANCH_STAGING }}
|
||||||
|
|
||||||
|
- name: Authenticate with GITHUB_TOKEN
|
||||||
|
run: |
|
||||||
|
git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
|
||||||
|
|
||||||
|
- name: Update README Date and Remove update file
|
||||||
|
run: |
|
||||||
|
DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
|
||||||
|
|
||||||
|
case "$DAY" in
|
||||||
|
1|21|31) SUFFIX="st" ;;
|
||||||
|
2|22) SUFFIX="nd" ;;
|
||||||
|
3|23) SUFFIX="rd" ;;
|
||||||
|
*) SUFFIX="th" ;;
|
||||||
|
esac
|
||||||
|
|
||||||
|
MONTH=$(TZ="${{ env.TZ }}" date +'%B')
|
||||||
|
YEAR=$(TZ="${{ env.TZ }}" date +'%Y')
|
||||||
|
|
||||||
|
DATE="${MONTH} ${DAY}${SUFFIX}, ${YEAR}"
|
||||||
|
DATE_ESCAPED=$(printf '%s' "$DATE" | sed -E 's/ /%20/g; s/,/%2C/g')
|
||||||
|
|
||||||
|
sed -i -E "s|(Last%20Updated-)[^-)]*|\1${DATE_ESCAPED}|g" README.md
|
||||||
|
|
||||||
|
git add README.md
|
||||||
|
git rm -f "${{ env.UPDATE_FILE }}"
|
||||||
|
git commit -m "Updated README date to ${DATE}"
|
||||||
|
|
||||||
|
- name: Squash Commits
|
||||||
|
run: |
|
||||||
|
COMMIT_MSG=$(git log -1 --pretty=%B HEAD~1)
|
||||||
|
|
||||||
|
git reset --soft HEAD~2
|
||||||
|
git commit -m "$COMMIT_MSG"
|
||||||
|
|
||||||
|
- name: Rewrite Commit Dates to Noon ${{ env.TZ }}
|
||||||
|
run: |
|
||||||
|
COMMIT_DATETIME="${{ needs.check_update.outputs.scheduled_date }} 12:00"
|
||||||
|
COMMIT_PHX=$(TZ="${{ env.TZ }}" date -d "$COMMIT_DATETIME" +"%Y-%m-%dT%H:%M:%S %z")
|
||||||
|
|
||||||
|
git filter-branch --env-filter "export GIT_AUTHOR_DATE='$COMMIT_PHX'; export GIT_COMMITTER_DATE='$COMMIT_PHX'" "${{ env.BRANCH_STAGING }}"
|
||||||
|
|
||||||
|
- name: Fetch ${{ env.BRANCH_PREVIOUS }} and ${{ env.BRANCH_FROGPILOT }}
|
||||||
|
run: |
|
||||||
|
git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
|
||||||
|
|
||||||
|
- name: Wait Until Noon ${{ env.TZ }}
|
||||||
|
run: |
|
||||||
|
NOW=$(TZ="${{ env.TZ }}" date +%s)
|
||||||
|
TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
|
||||||
|
|
||||||
|
[ "$NOW" -lt "$TARGET" ] && sleep $((TARGET - NOW))
|
||||||
|
|
||||||
|
- name: Push ${{ env.BRANCH_STAGING }}
|
||||||
|
run: |
|
||||||
|
git push origin "${{ env.BRANCH_STAGING }}" --force
|
||||||
|
|
||||||
|
- name: Reset ${{ env.BRANCH_PREVIOUS }} to Match ${{ env.BRANCH_FROGPILOT }}
|
||||||
|
run: |
|
||||||
|
git switch "${{ env.BRANCH_PREVIOUS }}"
|
||||||
|
git reset --hard "origin/${{ env.BRANCH_FROGPILOT }}"
|
||||||
|
git push origin "${{ env.BRANCH_PREVIOUS }}" --force
|
||||||
|
|
||||||
|
- name: Reset ${{ env.BRANCH_FROGPILOT }} to Match ${{ env.BRANCH_STAGING }}
|
||||||
|
run: |
|
||||||
|
git switch "${{ env.BRANCH_FROGPILOT }}"
|
||||||
|
git reset --hard "origin/${{ env.BRANCH_STAGING }}"
|
||||||
|
git push origin "${{ env.BRANCH_FROGPILOT }}" --force
|
||||||
79
.github/workflows/update_tinygrad.yaml
vendored
Normal file
79
.github/workflows/update_tinygrad.yaml
vendored
Normal file
@ -0,0 +1,79 @@
|
|||||||
|
name: Update Tinygrad
|
||||||
|
|
||||||
|
on:
|
||||||
|
workflow_dispatch:
|
||||||
|
inputs:
|
||||||
|
runner:
|
||||||
|
description: "Select the runner"
|
||||||
|
required: true
|
||||||
|
default: "c3"
|
||||||
|
type: choice
|
||||||
|
options:
|
||||||
|
- c3
|
||||||
|
- c3x
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
update_tinygrad:
|
||||||
|
name: Update Tinygrad
|
||||||
|
runs-on:
|
||||||
|
- self-hosted
|
||||||
|
- ${{ github.event.inputs.runner }}
|
||||||
|
|
||||||
|
steps:
|
||||||
|
- name: Get version
|
||||||
|
id: get_version
|
||||||
|
run: |
|
||||||
|
VERSION=$(grep -oP '^VERSION\s*=\s*"\K[^"]+' /data/openpilot/frogpilot/assets/model_manager.py)
|
||||||
|
echo "VERSION=$VERSION"
|
||||||
|
echo "version=$VERSION" >> "$GITHUB_OUTPUT"
|
||||||
|
|
||||||
|
- name: Clone GitLab repo
|
||||||
|
env:
|
||||||
|
GITLAB_TOKEN: ${{ secrets.GITLAB_TOKEN }}
|
||||||
|
run: |
|
||||||
|
rm -rf /data/tmp/frogpilot_tinygrad
|
||||||
|
mkdir -p /data/tmp/frogpilot_tinygrad
|
||||||
|
cd /data/tmp/frogpilot_tinygrad
|
||||||
|
|
||||||
|
git clone --depth 1 --branch Tinygrad "https://oauth2:${GITLAB_TOKEN}@gitlab.com/FrogAi/FrogPilot-Resources.git"
|
||||||
|
|
||||||
|
- name: Create Tinygrad Archive
|
||||||
|
run: |
|
||||||
|
set -euo pipefail
|
||||||
|
cd /data/openpilot
|
||||||
|
|
||||||
|
ARCHIVE_DIR="/data/tmp/frogpilot_tinygrad/FrogPilot-Resources"
|
||||||
|
ARCHIVE_NAME="Tinygrad_${{ steps.get_version.outputs.version }}.tar.gz"
|
||||||
|
|
||||||
|
TMPDIR="$(mktemp -d)"
|
||||||
|
touch "$TMPDIR/SConscript"
|
||||||
|
|
||||||
|
tar -czf "$ARCHIVE_NAME" \
|
||||||
|
--exclude="*.a" \
|
||||||
|
--exclude="*.o" \
|
||||||
|
--exclude="*.onnx" \
|
||||||
|
--exclude="*__pycache__*" \
|
||||||
|
--exclude="*tests*" \
|
||||||
|
--exclude="frogpilot/tinygrad_modeld/SConscript" \
|
||||||
|
frogpilot/tinygrad_modeld tinygrad_repo \
|
||||||
|
-C "$TMPDIR" \
|
||||||
|
--transform 's|^SConscript$|frogpilot/tinygrad_modeld/SConscript|' \
|
||||||
|
SConscript
|
||||||
|
|
||||||
|
mv "$ARCHIVE_NAME" "$ARCHIVE_DIR/"
|
||||||
|
rm -rf "$TMPDIR"
|
||||||
|
|
||||||
|
- name: Push updated Tinygrad
|
||||||
|
run: |
|
||||||
|
cd /data/tmp/frogpilot_tinygrad/FrogPilot-Resources
|
||||||
|
|
||||||
|
git config user.name "James"
|
||||||
|
git config user.email "91348155+FrogAi@users.noreply.github.com"
|
||||||
|
|
||||||
|
git add Tinygrad_*.tar.gz
|
||||||
|
git commit -m "Updated Tinygrad: ${{ steps.get_version.outputs.version }}" || echo "No changes to commit"
|
||||||
|
git push origin Tinygrad
|
||||||
|
|
||||||
|
- name: Cleanup temporary files
|
||||||
|
run: |
|
||||||
|
rm -rf /data/tmp/frogpilot_tinygrad
|
||||||
258
README.md
258
README.md
@ -1,9 +1,33 @@
|
|||||||
[](https://comma.ai/shop/comma-3x)
|
<div align="center" style="text-align: center;">
|
||||||
|
|
||||||
What is openpilot?
|
<h1>openpilot</h1>
|
||||||
------
|
|
||||||
|
|
||||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
<p>
|
||||||
|
<b>openpilot is an operating system for robotics.</b>
|
||||||
|
<br>
|
||||||
|
Currently, it upgrades the driver assistance system in 300+ supported cars.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<h3>
|
||||||
|
<a href="https://docs.comma.ai">Docs</a>
|
||||||
|
<span> · </span>
|
||||||
|
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||||
|
<span> · </span>
|
||||||
|
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||||
|
<span> · </span>
|
||||||
|
<a href="https://discord.comma.ai">Community</a>
|
||||||
|
<span> · </span>
|
||||||
|
<a href="https://comma.ai/shop">Try it on a comma 3X</a>
|
||||||
|
</h3>
|
||||||
|
|
||||||
|
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||||
|
|
||||||
|
[](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
|
||||||
|
[](LICENSE)
|
||||||
|
[](https://x.com/comma_ai)
|
||||||
|
[](https://discord.comma.ai)
|
||||||
|
|
||||||
|
</div>
|
||||||
|
|
||||||
<table>
|
<table>
|
||||||
<tr>
|
<tr>
|
||||||
@ -13,68 +37,216 @@ What is openpilot?
|
|||||||
</tr>
|
</tr>
|
||||||
</table>
|
</table>
|
||||||
|
|
||||||
To start using openpilot in a car
|
|
||||||
|
Using openpilot in a car
|
||||||
------
|
------
|
||||||
|
|
||||||
To use openpilot in a car, you need four things:
|
To use openpilot in a car, you need four things:
|
||||||
1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||||
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||||
3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md).
|
3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
|
||||||
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
|
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
|
||||||
|
|
||||||
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
|
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
|
||||||
|
|
||||||
To start developing openpilot
|
|
||||||
------
|
------
|
||||||
|
|
||||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
|
<div align="center" style="text-align: center;">
|
||||||
|
|
||||||
* Join the [community Discord](https://discord.comma.ai)
|
<h1>FrogPilot 🐸</h1>
|
||||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
|
||||||
* Check out the [openpilot tools](tools/)
|
|
||||||
* Read about the [development workflow](docs/WORKFLOW.md)
|
|
||||||
* Code documentation lives at https://docs.comma.ai
|
|
||||||
* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
|
|
||||||
|
|
||||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors.
|
[](https://deepwiki.com/FrogAi/FrogPilot)
|
||||||
|
[](https://discord.frogpilot.download)
|
||||||
|
[](https://github.com/FrogAi/FrogPilot/releases/latest)
|
||||||
|
[](https://frogpilot.wiki.gg/)
|
||||||
|
|
||||||
Safety and Testing
|
</div>
|
||||||
----
|
|
||||||
|
|
||||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
|
||||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
|
||||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
|
||||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
|
||||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
|
||||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
|
||||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
|
||||||
|
|
||||||
User Data and comma Account
|
|
||||||
------
|
------
|
||||||
|
|
||||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
**FrogPilot** is a custom frog-themed fork of openpilot that embraces a collaborative, community-driven approach to push the project forward. It delivers bleeding-edge features and experimental improvements far ahead of official releases. As an unofficial and highly experimental version of openpilot, **FrogPilot** should always be used with caution!
|
||||||
|
|
||||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
openpilot vs **FrogPilot**
|
||||||
|
|
||||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
|
||||||
The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
|
||||||
|
|
||||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
|
||||||
|
|
||||||
Licensing
|
|
||||||
------
|
------
|
||||||
|
|
||||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
#### Community
|
||||||
|
| Feature | openpilot | **FrogPilot** |
|
||||||
|
|---------|:---------:|:---------:|
|
||||||
|
| A Welcoming Community | ❌ | ✅ |
|
||||||
|
| Erich / Primary Moderators / 🦇 | ✅ | ❌ |
|
||||||
|
|
||||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
#### Core Features
|
||||||
|
| Feature | openpilot | **FrogPilot** |
|
||||||
|
|---------|:---------:|:---------:|
|
||||||
|
| Always On Lateral (Steering) | ❌ | ✅ |
|
||||||
|
| Blind Spot Integration | ✅ | ✅ |
|
||||||
|
| Conditional Experimental Mode | ❌ | ✅ |
|
||||||
|
| Custom Themes | ❌ | ✅ |
|
||||||
|
| Driver Monitoring | ✅ | ✅ |
|
||||||
|
| Driving Model Selector | ❌ | ✅ |
|
||||||
|
| Holiday Themes | ❌ | ✅ |
|
||||||
|
| Speed Limit Support | ❌ | ✅ |
|
||||||
|
| Weather Detection | ❌ | ✅ |
|
||||||
|
|
||||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
#### Device & Hardware
|
||||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
| Feature | openpilot | **FrogPilot** |
|
||||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
|---------|:---------:|:---------:|
|
||||||
|
| Advanced Volume Controller | ❌ | ✅ |
|
||||||
|
| Automatic Version Backups | ❌ | ✅ |
|
||||||
|
| C3 Support | ❌ | ✅ |
|
||||||
|
| comma Pedal Support | ❌ | ✅ |
|
||||||
|
| High Quality Recordings | ❌ | ✅ |
|
||||||
|
| SDSU Support | ❌ | ✅ |
|
||||||
|
| ZSS Support | ❌ | ✅ |
|
||||||
|
|
||||||
|
#### Gas/Brake
|
||||||
|
| Feature | openpilot | **FrogPilot** |
|
||||||
|
|---------|:---------:|:---------:|
|
||||||
|
| Adaptive Cruise Control (ACC) | ✅ | ✅ |
|
||||||
|
| Advanced Live Tuning | ❌ | ✅ |
|
||||||
|
| Custom Following Distances | ❌ | ✅ |
|
||||||
|
| Faster Human-Like Acceleration | ❌ | ✅ |
|
||||||
|
| Human-Like Speed Control in Curves | ❌ | ✅ |
|
||||||
|
| Smoother Human-Like Braking | ❌ | ✅ |
|
||||||
|
|
||||||
|
#### Steering
|
||||||
|
| Feature | openpilot | **FrogPilot** |
|
||||||
|
|---------|:---------:|:---------:|
|
||||||
|
| Advanced Live Tuning | ❌ | ✅ |
|
||||||
|
| Automatic Lane Changes | ❌ | ✅ |
|
||||||
|
| Increased Steering Torque* | ❌ | ✅ |
|
||||||
|
| Lane Centering (LKAS) | ✅ | ✅ |
|
||||||
|
| Lane Change Assist | ✅ | ✅ |
|
||||||
|
|
||||||
|
*Select vehicles only
|
||||||
|
|
||||||
|
And much much more!
|
||||||
|
|
||||||
|
🌟 Highlight Features
|
||||||
|
------
|
||||||
|
|
||||||
|
### 🚗 Always On Lateral (AOL)
|
||||||
|
|
||||||
|
With **"Always On Lateral"**, lane-centering stays active whenever cruise control is on, even when you press the accelerator or brake. This means steering assist won't cut out during manual speed adjustments giving you continuous support through curves, traffic, or mountain roads!
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
|
### 🧠 Conditional Experimental Mode (CEM)
|
||||||
|
|
||||||
|
**["Experimental Mode"](https://blog.comma.ai/090release/#experimental-mode)** lets openpilot drive at the speed it thinks a human would to allow slowing for curves, stopping at stoplights/stop signs, and adapting to traffic. This makes it powerful in complex scenarios, but it's still, well, "experimental" and less predictable than **"Chill Mode"**. But **"Conditional Experimental Mode"** gives you the best of both worlds by automatically switching between **"Chill Mode"** for steady cruising and **"Experimental Mode"** for more advanced situations to help fully automate your driving experience!
|
||||||
[](https://codecov.io/gh/commaai/openpilot)
|
|
||||||
|
**"Conditional Experimental Mode"** switches into **"Experimental Mode"** when conditions like these are met:
|
||||||
|
- Approaching curves and turns
|
||||||
|
- Detecting slower or stopped lead vehicles
|
||||||
|
- Driving below a set speed
|
||||||
|
- Predicting an upcoming stop (e.g. stoplight or stop sign)
|
||||||
|
|
||||||
|
Once conditions clear it returns to **"Chill Mode"** for stability and predictability.
|
||||||
|
|
||||||
|
**Note: Stay attentive as "Experimental Mode" is an alpha feature and mistakes are expected!**
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 🎭 Driving Personalities
|
||||||
|
|
||||||
|
With **"Driving Personalities"**, you choose how the vehicle behaves with four adjustable profiles:
|
||||||
|
|
||||||
|
- **Traffic:** Catered towards stop-and-go traffic by minimizing gaps and delays
|
||||||
|
- **Aggressive:** Aimed to provide tighter following distances and quicker reactions
|
||||||
|
- **Standard:** Useful for a balanced, all-purpose driving
|
||||||
|
- **Relaxed:** A smoother driving experience with larger following distance gaps
|
||||||
|
|
||||||
|
Each profile can be fine-tuned to change the desired following distance, acceleration, and braking style letting you shape **FrogPilot**'s behavior to match your own driving preferences! Profiles can be switched instantly using the following distance button on the steering wheel, while **"Traffic Mode"** can be enabled by simply holding down the following distance button.
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 📏 Speed Limit Controller (SLC)
|
||||||
|
|
||||||
|
With **"Speed Limit Controller"**, **FrogPilot** automatically adapts to the road's posted speed using information from downloaded **["OpenStreetMap"](https://www.openstreetmap.org)** maps, online **["Mapbox"](https://www.mapbox.com)** data, and the vehicle's dashboard (if supported).
|
||||||
|
|
||||||
|
Offsets let you fine-tune how closely **FrogPilot** follows posted limits across different speed ranges allowing you to cruise slightly above or below for a more natural driving experience. If no speed limit is available, you can choose whether **FrogPilot** drives at the set speed, falls back to the last known speed limit, or uses **"Experimental Mode"** to estimate one with the driving model.
|
||||||
|
|
||||||
|
Maps can be downloaded directly in settings and updated automatically on a schedule ensuring your device always has the latest speed limits!
|
||||||
|
|
||||||
|
**Note: Speed limits are only as accurate as the available speed limit data. Always stay attentive and adjust your speed when necessary!**
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 🎨 Themes
|
||||||
|
|
||||||
|
With **"Themes"**, you can personalize **FrogPilot**'s driving screen to make it uniquely yours! Choose from:
|
||||||
|
|
||||||
|
- **Color Schemes**
|
||||||
|
- **Icon Packs**
|
||||||
|
- **Sound Packs**
|
||||||
|
- **Turn Signal Animations**
|
||||||
|
- **Steering Wheel Icons**
|
||||||
|
|
||||||
|
Enjoy pre-existing **FrogPilot** and seasonal holiday themes, or you can create your own with the **"Theme Maker"** and even share them with the community! For extra fun, enable features like the Mario Kart–style **"Rainbow Path"** or **"Random Events"** that add playful visual effects while you drive!
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
And lots more! From safety enhancements to personalization options, **FrogPilot** continues to evolve with features that put you in control. Check it out today for yourself!
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
🔧 Branches
|
||||||
|
------
|
||||||
|
| Branch | Install URL | Description | Recommended For |
|
||||||
|
|----------------------------|---------------------------|--------------------------------------------------------|--------------------------|
|
||||||
|
| FrogPilot | frogpilot.download | The main release branch. | Everyone |
|
||||||
|
| FrogPilot‑Staging | staging.frogpilot.download| Beta branch with upcoming features. Expect bugs! | Early Adopters |
|
||||||
|
| FrogPilot‑Testing | testing.frogpilot.download| Alpha branch with bleeding-edge features. Breaks often!| Advanced Testers |
|
||||||
|
| FrogPilot‑Development| No :) | Active development branch. Don't use! | **FrogPilot** Developers|
|
||||||
|
| MAKE‑PRS‑HERE | No :) | Workspace for pull requests. Don't use! | Contributors |
|
||||||
|
|
||||||
|
🧰 How to Install
|
||||||
|
------
|
||||||
|
|
||||||
|
The easiest way to install **FrogPilot** is by entering this URL on the installation screen:
|
||||||
|
|
||||||
|
```
|
||||||
|
frogpilot.download
|
||||||
|
```
|
||||||
|
|
||||||
|
**DO NOT** install the **FrogPilot-Development** branch. I'm constantly breaking things on there, so unless you don't want to use **FrogPilot**, **NEVER** install it!
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
🐞 Bug Reports / Feature Requests
|
||||||
|
------
|
||||||
|
|
||||||
|
If you run into bugs, issues, or have ideas for new features, please post about it on the **[FrogPilot Discord](https://discord.gg/frogpilot)**! Feedback helps improve **FrogPilot** and create a better experience for everyone!
|
||||||
|
|
||||||
|
To report a bug, please post it in [**#bug-reports**](https://discord.com/channels/1137853399715549214/1162100167110053888).
|
||||||
|
To request a feature, please post it in [**#feature-requests**](https://discord.com/channels/1137853399715549214/1160318669839147259).
|
||||||
|
|
||||||
|
Please include as much detail as possible! Photos, videos, log files, or anything that can help explain the issue or idea are very helpful!
|
||||||
|
|
||||||
|
I'll do my best to respond promptly, but not every request can be addressed right away. Your feedback is always appreciated and helps make **FrogPilot** the best it can be!
|
||||||
|
|
||||||
|
📋 Credits
|
||||||
|
------
|
||||||
|
|
||||||
|
* [Aidenir](https://github.com/Aidenir)
|
||||||
|
* [AlexandreSato](https://github.com/AlexandreSato)
|
||||||
|
* [cfranyota](https://github.com/cfranyota)
|
||||||
|
* [cydia2020](https://github.com/cydia2020)
|
||||||
|
* [dragonpilot-community](https://github.com/dragonpilot-community)
|
||||||
|
* [ErichMoraga](https://github.com/ErichMoraga)
|
||||||
|
* [garrettpall](https://github.com/garrettpall)
|
||||||
|
* [jakethesnake420](https://github.com/jakethesnake420)
|
||||||
|
* [jyoung8607](https://github.com/jyoung8607)
|
||||||
|
* [mike8643](https://github.com/mike8643)
|
||||||
|
* [neokii](https://github.com/neokii)
|
||||||
|
* [OPGM](https://github.com/opgm)
|
||||||
|
* [OPKR](https://github.com/openpilotkr)
|
||||||
|
* [pfeiferj](https://github.com/pfeiferj)
|
||||||
|
* [realfast](https://github.com/realfast)
|
||||||
|
* [syncword](https://github.com/syncword)
|
||||||
|
* [twilsonco](https://github.com/twilsonco)
|
||||||
|
|
||||||
|
Star History
|
||||||
|
------
|
||||||
|
|
||||||
|
[](https://www.star-history.com/#FrogAi/FrogPilot&Date)
|
||||||
|
|||||||
@ -84,6 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
|||||||
startup @75;
|
startup @75;
|
||||||
startupNoCar @76;
|
startupNoCar @76;
|
||||||
startupNoControl @77;
|
startupNoControl @77;
|
||||||
|
startupNoSecOcKey @121;
|
||||||
startupMaster @78;
|
startupMaster @78;
|
||||||
startupNoFw @104;
|
startupNoFw @104;
|
||||||
fcw @79;
|
fcw @79;
|
||||||
@ -117,9 +118,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
|||||||
paramsdPermanentError @119;
|
paramsdPermanentError @119;
|
||||||
actuatorsApiUnavailable @120;
|
actuatorsApiUnavailable @120;
|
||||||
|
|
||||||
# FrogPilot Events
|
|
||||||
pedalInterceptorNoBrake @134;
|
|
||||||
|
|
||||||
radarCanErrorDEPRECATED @15;
|
radarCanErrorDEPRECATED @15;
|
||||||
communityFeatureDisallowedDEPRECATED @62;
|
communityFeatureDisallowedDEPRECATED @62;
|
||||||
radarCommIssueDEPRECATED @67;
|
radarCommIssueDEPRECATED @67;
|
||||||
@ -507,6 +505,9 @@ struct CarParams {
|
|||||||
|
|
||||||
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
||||||
|
|
||||||
|
secOcRequired @74 :Bool; # Car requires SecOC message authentication to operate
|
||||||
|
secOcKeyAvailable @75 :Bool; # Stored SecOC key loaded from params
|
||||||
|
|
||||||
struct SafetyConfig {
|
struct SafetyConfig {
|
||||||
safetyModel @0 :SafetyModel;
|
safetyModel @0 :SafetyModel;
|
||||||
safetyParam @3 :UInt16;
|
safetyParam @3 :UInt16;
|
||||||
@ -531,6 +532,7 @@ struct CarParams {
|
|||||||
useSteeringAngle @0 :Bool;
|
useSteeringAngle @0 :Bool;
|
||||||
kp @1 :Float32;
|
kp @1 :Float32;
|
||||||
ki @2 :Float32;
|
ki @2 :Float32;
|
||||||
|
kd @8 : Float32;
|
||||||
friction @3 :Float32;
|
friction @3 :Float32;
|
||||||
kf @4 :Float32;
|
kf @4 :Float32;
|
||||||
steeringAngleDeadzoneDeg @5 :Float32;
|
steeringAngleDeadzoneDeg @5 :Float32;
|
||||||
@ -544,8 +546,8 @@ struct CarParams {
|
|||||||
kiBP @2 :List(Float32);
|
kiBP @2 :List(Float32);
|
||||||
kiV @3 :List(Float32);
|
kiV @3 :List(Float32);
|
||||||
kf @6 :Float32;
|
kf @6 :Float32;
|
||||||
deadzoneBPDEPRECATED @4 :List(Float32);
|
deadzoneBP @4 :List(Float32);
|
||||||
deadzoneVDEPRECATED @5 :List(Float32);
|
deadzoneV @5 :List(Float32);
|
||||||
}
|
}
|
||||||
|
|
||||||
struct LateralINDITuning {
|
struct LateralINDITuning {
|
||||||
|
|||||||
@ -1,6 +1,8 @@
|
|||||||
using Cxx = import "./include/c++.capnp";
|
using Cxx = import "./include/c++.capnp";
|
||||||
$Cxx.namespace("cereal");
|
$Cxx.namespace("cereal");
|
||||||
|
|
||||||
|
using Car = import "car.capnp";
|
||||||
|
|
||||||
@0xb526ba661d550a59;
|
@0xb526ba661d550a59;
|
||||||
|
|
||||||
# custom.capnp: a home for empty structs reserved for custom forks
|
# custom.capnp: a home for empty structs reserved for custom forks
|
||||||
@ -8,32 +10,235 @@ $Cxx.namespace("cereal");
|
|||||||
# cereal, so use these if you want custom events in your fork.
|
# cereal, so use these if you want custom events in your fork.
|
||||||
|
|
||||||
# you can rename the struct, but don't change the identifier
|
# you can rename the struct, but don't change the identifier
|
||||||
struct CustomReserved0 @0x81c2f05a394cf4af {
|
struct FrogPilotCarControl {
|
||||||
|
hudControl @0 :HUDControl;
|
||||||
|
|
||||||
|
struct HUDControl {
|
||||||
|
audibleAlert @0 :AudibleAlert;
|
||||||
|
|
||||||
|
enum AudibleAlert {
|
||||||
|
none @0;
|
||||||
|
|
||||||
|
engage @1;
|
||||||
|
disengage @2;
|
||||||
|
refuse @3;
|
||||||
|
|
||||||
|
warningSoft @4;
|
||||||
|
warningImmediate @5;
|
||||||
|
|
||||||
|
prompt @6;
|
||||||
|
promptRepeat @7;
|
||||||
|
promptDistracted @8;
|
||||||
|
|
||||||
|
# Random Events
|
||||||
|
angry @9;
|
||||||
|
continued @10;
|
||||||
|
dejaVu @11;
|
||||||
|
doc @12;
|
||||||
|
fart @13;
|
||||||
|
firefox @14;
|
||||||
|
goat @15;
|
||||||
|
hal9000 @16;
|
||||||
|
mail @17;
|
||||||
|
nessie @18;
|
||||||
|
noice @19;
|
||||||
|
startup @20;
|
||||||
|
thisIsFine @21;
|
||||||
|
uwu @22;
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
struct FrogPilotCarEvent @0x81c2f05a394cf4af {
|
||||||
|
name @0 :EventName;
|
||||||
|
|
||||||
|
enable @1 :Bool;
|
||||||
|
noEntry @2 :Bool;
|
||||||
|
warning @3 :Bool;
|
||||||
|
userDisable @4 :Bool;
|
||||||
|
softDisable @5 :Bool;
|
||||||
|
immediateDisable @6 :Bool;
|
||||||
|
preEnable @7 :Bool;
|
||||||
|
permanent @8 :Bool;
|
||||||
|
overrideLateral @10 :Bool;
|
||||||
|
overrideLongitudinal @9 :Bool;
|
||||||
|
|
||||||
|
enum EventName @0xaedffd8f31e7b55d {
|
||||||
|
blockUser @0;
|
||||||
|
customStartupAlert @1;
|
||||||
|
forcingStop @2;
|
||||||
|
goatSteerSaturated @3;
|
||||||
|
greenLight @4;
|
||||||
|
holidayActive @5;
|
||||||
|
laneChangeBlockedLoud @6;
|
||||||
|
leadDeparting @7;
|
||||||
|
noLaneAvailable @8;
|
||||||
|
openpilotCrashed @9;
|
||||||
|
pedalInterceptorNoBrake @10;
|
||||||
|
speedLimitChanged @11;
|
||||||
|
torqueNNLoad @12;
|
||||||
|
trafficModeActive @13;
|
||||||
|
trafficModeInactive @14;
|
||||||
|
turningLeft @15;
|
||||||
|
turningRight @16;
|
||||||
|
|
||||||
|
# Random Events
|
||||||
|
accel30 @17;
|
||||||
|
accel35 @18;
|
||||||
|
accel40 @19;
|
||||||
|
dejaVuCurve @20;
|
||||||
|
firefoxSteerSaturated @21;
|
||||||
|
hal9000 @22;
|
||||||
|
openpilotCrashedRandomEvent @23;
|
||||||
|
thisIsFineSteerSaturated @24;
|
||||||
|
toBeContinued @25;
|
||||||
|
vCruise69 @26;
|
||||||
|
yourFrogTriedToKillMe @27;
|
||||||
|
youveGotMail @28;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
|
||||||
|
canUsePedal @0 :Bool;
|
||||||
|
canUseSDSU @1 :Bool;
|
||||||
|
fpFlags @2 :UInt32;
|
||||||
|
isHDA2 @3 :Bool;
|
||||||
|
openpilotLongitudinalControlDisabled @4 :Bool;
|
||||||
|
safetyConfigs @5 :List(SafetyConfig);
|
||||||
|
|
||||||
|
struct SafetyConfig {
|
||||||
|
safetyParam @0 :UInt16;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved3 @0xda96579883444c35 {
|
struct FrogPilotCarState @0xda96579883444c35 {
|
||||||
|
accelPressed @0 :Bool;
|
||||||
|
alwaysOnLateralAllowed @1 :Bool;
|
||||||
|
alwaysOnLateralEnabled @2 :Bool;
|
||||||
|
brakeLights @3 :Bool;
|
||||||
|
dashboardSpeedLimit @4 :Float32;
|
||||||
|
decelPressed @5 :Bool;
|
||||||
|
distancePressed @6 :Bool;
|
||||||
|
distanceLongPressed @7 :Bool;
|
||||||
|
distanceVeryLongPressed @8 :Bool;
|
||||||
|
ecoGear @9 :Bool;
|
||||||
|
forceCoast @10 :Bool;
|
||||||
|
pauseLateral @11 :Bool;
|
||||||
|
pauseLongitudinal @12 :Bool;
|
||||||
|
sportGear @13 :Bool;
|
||||||
|
trafficModeEnabled @14 :Bool;
|
||||||
|
|
||||||
|
struct ButtonEvent {
|
||||||
|
enum Type {
|
||||||
|
lkas @0;
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved4 @0x80ae746ee2596b11 {
|
struct FrogPilotControlsState @0x80ae746ee2596b11 {
|
||||||
|
alertStatus @0 :AlertStatus;
|
||||||
|
alertText1 @1 :Text;
|
||||||
|
alertText2 @2 :Text;
|
||||||
|
alertSize @3 :AlertSize;
|
||||||
|
alertBlinkingRate @4 :Float32;
|
||||||
|
alertType @5 :Text;
|
||||||
|
alertSound @6 :Car.CarControl.HUDControl.AudibleAlert;
|
||||||
|
|
||||||
|
enum AlertSize {
|
||||||
|
none @0; # don't display the alert
|
||||||
|
small @1; # small box
|
||||||
|
mid @2; # mid screen
|
||||||
|
full @3; # full screen
|
||||||
|
}
|
||||||
|
|
||||||
|
enum AlertStatus {
|
||||||
|
normal @0; # low priority alert for user's convenience
|
||||||
|
userPrompt @1; # mid priority alert that might require user intervention
|
||||||
|
critical @2; # high priority alert that needs immediate user intervention
|
||||||
|
frogpilot @3; # FrogPilot startup alert
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved5 @0xa5cd762cd951a455 {
|
struct FrogPilotDeviceState @0xa5cd762cd951a455 {
|
||||||
|
freeSpace @0 :Int16;
|
||||||
|
usedSpace @1 :Int16;
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved6 @0xf98d843bfd7004a3 {
|
struct FrogPilotModelDataV2 @0xf98d843bfd7004a3 {
|
||||||
|
turnDirection @0 :TurnDirection;
|
||||||
|
|
||||||
|
enum TurnDirection {
|
||||||
|
none @0;
|
||||||
|
turnLeft @1;
|
||||||
|
turnRight @2;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved7 @0xb86e6369214c01c8 {
|
struct FrogPilotNavigation @0xf416ec09499d9d19 {
|
||||||
|
approachingIntersection @0 :Bool;
|
||||||
|
approachingTurn @1 :Bool;
|
||||||
|
navigationSpeedLimit @2 :Float32;
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved8 @0xf416ec09499d9d19 {
|
struct FrogPilotPlan @0xa1680744031fdb2d {
|
||||||
|
accelerationJerk @0 :Float32;
|
||||||
|
accelerationJerkStock @1 :Float32;
|
||||||
|
cscControllingSpeed @2 :Bool;
|
||||||
|
cscSpeed @3 :Float32;
|
||||||
|
cscTraining @4 :Bool;
|
||||||
|
dangerJerk @5 :Float32;
|
||||||
|
desiredFollowDistance @6 :Int64;
|
||||||
|
experimentalMode @7 :Bool;
|
||||||
|
forcingStop @8 :Bool;
|
||||||
|
forcingStopLength @9 :Float32;
|
||||||
|
frogpilotEvents @10 :List(FrogPilotCarEvent);
|
||||||
|
increasedStoppedDistance @11 :Float32;
|
||||||
|
lateralCheck @12 :Bool;
|
||||||
|
laneWidthLeft @13 :Float32;
|
||||||
|
laneWidthRight @14 :Float32;
|
||||||
|
maxAcceleration @15 :Float32;
|
||||||
|
minAcceleration @16 :Float32;
|
||||||
|
redLight @17 :Bool;
|
||||||
|
roadCurvature @18 :Float32;
|
||||||
|
slcMapSpeedLimit @19 :Float32;
|
||||||
|
slcMapboxSpeedLimit @20 :Float32;
|
||||||
|
slcNextSpeedLimit @21 :Float32;
|
||||||
|
slcOverriddenSpeed @22 :Float32;
|
||||||
|
slcSpeedLimit @23 :Float32;
|
||||||
|
slcSpeedLimitOffset @24 :Float32;
|
||||||
|
slcSpeedLimitSource @25 :Text;
|
||||||
|
speedJerk @26 :Float32;
|
||||||
|
speedJerkStock @27 :Float32;
|
||||||
|
speedLimitChanged @28 :Bool;
|
||||||
|
tFollow @29 :Float32;
|
||||||
|
themeUpdated @30 :Bool;
|
||||||
|
togglesUpdated @31 :Bool;
|
||||||
|
trackingLead @32 :Bool;
|
||||||
|
unconfirmedSlcSpeedLimit @33 :Float32;
|
||||||
|
vCruise @34 :Float32;
|
||||||
}
|
}
|
||||||
|
|
||||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
struct FrogPilotRadarState @0xcb9fd56c7057593a {
|
||||||
|
leadLeft @0 :LeadData;
|
||||||
|
leadRight @1 :LeadData;
|
||||||
|
|
||||||
|
struct LeadData {
|
||||||
|
dRel @0 :Float32;
|
||||||
|
yRel @1 :Float32;
|
||||||
|
vRel @2 :Float32;
|
||||||
|
aRel @3 :Float32;
|
||||||
|
vLead @4 :Float32;
|
||||||
|
dPath @6 :Float32;
|
||||||
|
vLat @7 :Float32;
|
||||||
|
vLeadK @8 :Float32;
|
||||||
|
aLeadK @9 :Float32;
|
||||||
|
fcw @10 :Bool;
|
||||||
|
status @11 :Bool;
|
||||||
|
aLeadTau @12 :Float32;
|
||||||
|
modelProb @13 :Float32;
|
||||||
|
radar @14 :Bool;
|
||||||
|
radarTrackId @15 :Int32 = -1;
|
||||||
|
|
||||||
|
aLeadDEPRECATED @5 :Float32;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
115
cereal/log.capnp
115
cereal/log.capnp
@ -698,6 +698,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
|||||||
personality @66 :LongitudinalPersonality;
|
personality @66 :LongitudinalPersonality;
|
||||||
|
|
||||||
longControlState @30 :Car.CarControl.Actuators.LongControlState;
|
longControlState @30 :Car.CarControl.Actuators.LongControlState;
|
||||||
|
vPid @2 :Float32;
|
||||||
vTargetLead @3 :Float32;
|
vTargetLead @3 :Float32;
|
||||||
vCruise @22 :Float32; # actual set speed
|
vCruise @22 :Float32; # actual set speed
|
||||||
vCruiseCluster @63 :Float32; # set speed to display in the UI
|
vCruiseCluster @63 :Float32; # set speed to display in the UI
|
||||||
@ -865,7 +866,38 @@ struct ControlsState @0x97ff69c53601abf1 {
|
|||||||
canMonoTimesDEPRECATED @21 :List(UInt64);
|
canMonoTimesDEPRECATED @21 :List(UInt64);
|
||||||
desiredCurvatureRateDEPRECATED @62 :Float32;
|
desiredCurvatureRateDEPRECATED @62 :Float32;
|
||||||
canErrorCounterDEPRECATED @57 :UInt32;
|
canErrorCounterDEPRECATED @57 :UInt32;
|
||||||
vPidDEPRECATED @2 :Float32;
|
}
|
||||||
|
|
||||||
|
struct DrivingModelData {
|
||||||
|
frameId @0 :UInt32;
|
||||||
|
frameIdExtra @1 :UInt32;
|
||||||
|
frameDropPerc @6 :Float32;
|
||||||
|
modelExecutionTime @7 :Float32;
|
||||||
|
|
||||||
|
action @2 :ModelDataV2.Action;
|
||||||
|
|
||||||
|
laneLineMeta @3 :LaneLineMeta;
|
||||||
|
meta @4 :MetaData;
|
||||||
|
|
||||||
|
path @5 :PolyPath;
|
||||||
|
|
||||||
|
struct PolyPath {
|
||||||
|
xCoefficients @0 :List(Float32);
|
||||||
|
yCoefficients @1 :List(Float32);
|
||||||
|
zCoefficients @2 :List(Float32);
|
||||||
|
}
|
||||||
|
|
||||||
|
struct LaneLineMeta {
|
||||||
|
leftY @0 :Float32;
|
||||||
|
rightY @1 :Float32;
|
||||||
|
leftProb @2 :Float32;
|
||||||
|
rightProb @3 :Float32;
|
||||||
|
}
|
||||||
|
|
||||||
|
struct MetaData {
|
||||||
|
laneChangeState @0 :LaneChangeState;
|
||||||
|
laneChangeDirection @1 :LaneChangeDirection;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
# All SI units and in device frame
|
# All SI units and in device frame
|
||||||
@ -913,8 +945,8 @@ struct ModelDataV2 {
|
|||||||
# Model perceived motion
|
# Model perceived motion
|
||||||
temporalPose @21 :Pose;
|
temporalPose @21 :Pose;
|
||||||
|
|
||||||
navEnabledDEPRECATED @22 :Bool;
|
navEnabled @22 :Bool;
|
||||||
locationMonoTimeDEPRECATED @24 :UInt64;
|
locationMonoTime @24 :UInt64;
|
||||||
|
|
||||||
# e2e lateral planner
|
# e2e lateral planner
|
||||||
lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
|
lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
|
||||||
@ -980,6 +1012,8 @@ struct ModelDataV2 {
|
|||||||
brake3MetersPerSecondSquaredProbs @4 :List(Float32);
|
brake3MetersPerSecondSquaredProbs @4 :List(Float32);
|
||||||
brake4MetersPerSecondSquaredProbs @5 :List(Float32);
|
brake4MetersPerSecondSquaredProbs @5 :List(Float32);
|
||||||
brake5MetersPerSecondSquaredProbs @6 :List(Float32);
|
brake5MetersPerSecondSquaredProbs @6 :List(Float32);
|
||||||
|
gasPressProbs @7 :List(Float32);
|
||||||
|
brakePressProbs @8 :List(Float32);
|
||||||
}
|
}
|
||||||
|
|
||||||
struct Pose {
|
struct Pose {
|
||||||
@ -1002,6 +1036,8 @@ struct ModelDataV2 {
|
|||||||
|
|
||||||
struct Action {
|
struct Action {
|
||||||
desiredCurvature @0 :Float32;
|
desiredCurvature @0 :Float32;
|
||||||
|
desiredAcceleration @1 :Float32;
|
||||||
|
shouldStop @2 :Bool;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -1221,6 +1257,38 @@ struct LiveLocationKalman {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
struct LivePose {
|
||||||
|
# More info on reference frames:
|
||||||
|
# https://github.com/commaai/openpilot/tree/master/common/transformations
|
||||||
|
orientationNED @0 :XYZMeasurement;
|
||||||
|
velocityDevice @1 :XYZMeasurement;
|
||||||
|
accelerationDevice @2 :XYZMeasurement;
|
||||||
|
angularVelocityDevice @3 :XYZMeasurement;
|
||||||
|
|
||||||
|
inputsOK @4 :Bool = false;
|
||||||
|
posenetOK @5 :Bool = false;
|
||||||
|
sensorsOK @6 :Bool = false;
|
||||||
|
|
||||||
|
filterState @7 :FilterState;
|
||||||
|
|
||||||
|
struct XYZMeasurement {
|
||||||
|
x @0 :Float32;
|
||||||
|
y @1 :Float32;
|
||||||
|
z @2 :Float32;
|
||||||
|
xStd @3 :Float32;
|
||||||
|
yStd @4 :Float32;
|
||||||
|
zStd @5 :Float32;
|
||||||
|
valid @6 :Bool;
|
||||||
|
}
|
||||||
|
|
||||||
|
struct FilterState {
|
||||||
|
value @0 : List(Float64);
|
||||||
|
std @1 : List(Float64);
|
||||||
|
valid @2 : Bool;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
struct ProcLog {
|
struct ProcLog {
|
||||||
cpuTimes @0 :List(CPUTimes);
|
cpuTimes @0 :List(CPUTimes);
|
||||||
mem @1 :Mem;
|
mem @1 :Mem;
|
||||||
@ -2041,6 +2109,22 @@ struct LiveTorqueParametersData {
|
|||||||
useParams @12 :Bool;
|
useParams @12 :Bool;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
struct LiveDelayData {
|
||||||
|
lateralDelay @0 :Float32;
|
||||||
|
validBlocks @1 :Int32;
|
||||||
|
status @2 :Status;
|
||||||
|
|
||||||
|
lateralDelayEstimate @3 :Float32;
|
||||||
|
lateralDelayEstimateStd @5 :Float32;
|
||||||
|
points @4 :List(Float32);
|
||||||
|
|
||||||
|
enum Status {
|
||||||
|
unestimated @0;
|
||||||
|
estimated @1;
|
||||||
|
invalid @2;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
struct LiveMapDataDEPRECATED {
|
struct LiveMapDataDEPRECATED {
|
||||||
speedLimitValid @0 :Bool;
|
speedLimitValid @0 :Bool;
|
||||||
speedLimit @1 :Float32;
|
speedLimit @1 :Float32;
|
||||||
@ -2257,13 +2341,16 @@ struct Event {
|
|||||||
gnssMeasurements @91 :GnssMeasurements;
|
gnssMeasurements @91 :GnssMeasurements;
|
||||||
liveParameters @61 :LiveParametersData;
|
liveParameters @61 :LiveParametersData;
|
||||||
liveTorqueParameters @94 :LiveTorqueParametersData;
|
liveTorqueParameters @94 :LiveTorqueParametersData;
|
||||||
|
liveDelay @130 : LiveDelayData;
|
||||||
cameraOdometry @63 :CameraOdometry;
|
cameraOdometry @63 :CameraOdometry;
|
||||||
thumbnail @66: Thumbnail;
|
thumbnail @66: Thumbnail;
|
||||||
onroadEvents @68: List(Car.CarEvent);
|
onroadEvents @68: List(Car.CarEvent);
|
||||||
carParams @69: Car.CarParams;
|
carParams @69: Car.CarParams;
|
||||||
driverMonitoringState @71: DriverMonitoringState;
|
driverMonitoringState @71: DriverMonitoringState;
|
||||||
liveLocationKalman @72 :LiveLocationKalman;
|
liveLocationKalman @72 :LiveLocationKalman;
|
||||||
|
livePose @129 :LivePose;
|
||||||
modelV2 @75 :ModelDataV2;
|
modelV2 @75 :ModelDataV2;
|
||||||
|
drivingModelData @128 :DrivingModelData;
|
||||||
driverStateV2 @92 :DriverStateV2;
|
driverStateV2 @92 :DriverStateV2;
|
||||||
|
|
||||||
# camera stuff, each camera state has a matching encode idx
|
# camera stuff, each camera state has a matching encode idx
|
||||||
@ -2318,16 +2405,16 @@ struct Event {
|
|||||||
customReservedRawData2 @126 :Data;
|
customReservedRawData2 @126 :Data;
|
||||||
|
|
||||||
# *********** Custom: reserved for forks ***********
|
# *********** Custom: reserved for forks ***********
|
||||||
customReserved0 @107 :Custom.CustomReserved0;
|
frogpilotCarControl @107 :Custom.FrogPilotCarControl;
|
||||||
customReserved1 @108 :Custom.CustomReserved1;
|
frogpilotCarParams @108 :Custom.FrogPilotCarParams;
|
||||||
customReserved2 @109 :Custom.CustomReserved2;
|
frogpilotCarState @109 :Custom.FrogPilotCarState;
|
||||||
customReserved3 @110 :Custom.CustomReserved3;
|
frogpilotControlsState @110 :Custom.FrogPilotControlsState;
|
||||||
customReserved4 @111 :Custom.CustomReserved4;
|
frogpilotDeviceState @111 :Custom.FrogPilotDeviceState;
|
||||||
customReserved5 @112 :Custom.CustomReserved5;
|
frogpilotModelV2 @112 :Custom.FrogPilotModelDataV2;
|
||||||
customReserved6 @113 :Custom.CustomReserved6;
|
frogpilotNavigation @113 :Custom.FrogPilotNavigation;
|
||||||
customReserved7 @114 :Custom.CustomReserved7;
|
frogpilotOnroadEvents @114: List(Custom.FrogPilotCarEvent);
|
||||||
customReserved8 @115 :Custom.CustomReserved8;
|
frogpilotPlan @115 :Custom.FrogPilotPlan;
|
||||||
customReserved9 @116 :Custom.CustomReserved9;
|
frogpilotRadarState @116 :Custom.FrogPilotRadarState;
|
||||||
|
|
||||||
# *********** legacy + deprecated ***********
|
# *********** legacy + deprecated ***********
|
||||||
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||||
@ -2368,6 +2455,6 @@ struct Event {
|
|||||||
driverStateDEPRECATED @59 :DriverStateDEPRECATED;
|
driverStateDEPRECATED @59 :DriverStateDEPRECATED;
|
||||||
sensorEventsDEPRECATED @11 :List(SensorEventData);
|
sensorEventsDEPRECATED @11 :List(SensorEventData);
|
||||||
lateralPlanDEPRECATED @64 :LateralPlan;
|
lateralPlanDEPRECATED @64 :LateralPlan;
|
||||||
navModelDEPRECATED @104 :NavModelData;
|
navModel @104 :NavModelData;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -34,6 +34,7 @@ _services: dict[str, tuple] = {
|
|||||||
"errorLogMessage": (True, 0., 1),
|
"errorLogMessage": (True, 0., 1),
|
||||||
"liveCalibration": (True, 4., 4),
|
"liveCalibration": (True, 4., 4),
|
||||||
"liveTorqueParameters": (True, 4., 1),
|
"liveTorqueParameters": (True, 4., 1),
|
||||||
|
"liveDelay": (True, 4., 1),
|
||||||
"androidLog": (True, 0.),
|
"androidLog": (True, 0.),
|
||||||
"carState": (True, 100., 10),
|
"carState": (True, 100., 10),
|
||||||
"carControl": (True, 100., 10),
|
"carControl": (True, 100., 10),
|
||||||
@ -47,7 +48,8 @@ _services: dict[str, tuple] = {
|
|||||||
"gnssMeasurements": (True, 10., 10),
|
"gnssMeasurements": (True, 10., 10),
|
||||||
"clocks": (True, 0.1, 1),
|
"clocks": (True, 0.1, 1),
|
||||||
"ubloxRaw": (True, 20.),
|
"ubloxRaw": (True, 20.),
|
||||||
"liveLocationKalman": (True, 20., 5),
|
"livePose": (True, 20., 4),
|
||||||
|
"liveLocationKalman": (True, 20.),
|
||||||
"liveParameters": (True, 20., 5),
|
"liveParameters": (True, 20., 5),
|
||||||
"cameraOdometry": (True, 20., 5),
|
"cameraOdometry": (True, 20., 5),
|
||||||
"thumbnail": (True, 0.2, 1),
|
"thumbnail": (True, 0.2, 1),
|
||||||
@ -60,12 +62,15 @@ _services: dict[str, tuple] = {
|
|||||||
"driverMonitoringState": (True, 20., 10),
|
"driverMonitoringState": (True, 20., 10),
|
||||||
"wideRoadEncodeIdx": (False, 20., 1),
|
"wideRoadEncodeIdx": (False, 20., 1),
|
||||||
"wideRoadCameraState": (True, 20., 20),
|
"wideRoadCameraState": (True, 20., 20),
|
||||||
|
"drivingModelData": (True, 20., 10),
|
||||||
"modelV2": (True, 20., 40),
|
"modelV2": (True, 20., 40),
|
||||||
"managerState": (True, 2., 1),
|
"managerState": (True, 2., 1),
|
||||||
"uploaderState": (True, 0., 1),
|
"uploaderState": (True, 0., 1),
|
||||||
"navInstruction": (True, 1., 10),
|
"navInstruction": (True, 1., 10),
|
||||||
"navRoute": (True, 0.),
|
"navRoute": (True, 0.),
|
||||||
"navThumbnail": (True, 0.),
|
"navThumbnail": (True, 0.),
|
||||||
|
"navModel": (True, 2., 4.),
|
||||||
|
"mapRenderState": (True, 2., 1.),
|
||||||
"uiPlan": (True, 20., 40.),
|
"uiPlan": (True, 20., 40.),
|
||||||
"qRoadEncodeIdx": (False, 20.),
|
"qRoadEncodeIdx": (False, 20.),
|
||||||
"userFlag": (True, 0., 1),
|
"userFlag": (True, 0., 1),
|
||||||
@ -87,6 +92,18 @@ _services: dict[str, tuple] = {
|
|||||||
"customReservedRawData0": (True, 0.),
|
"customReservedRawData0": (True, 0.),
|
||||||
"customReservedRawData1": (True, 0.),
|
"customReservedRawData1": (True, 0.),
|
||||||
"customReservedRawData2": (True, 0.),
|
"customReservedRawData2": (True, 0.),
|
||||||
|
|
||||||
|
# FrogPilot
|
||||||
|
"frogpilotCarControl": (True, 100., 10),
|
||||||
|
"frogpilotCarParams": (True, 0.02, 1),
|
||||||
|
"frogpilotCarState": (True, 100., 10),
|
||||||
|
"frogpilotControlsState": (True, 100., 10),
|
||||||
|
"frogpilotDeviceState": (True, 2., 1),
|
||||||
|
"frogpilotModelV2": (True, 20., 40),
|
||||||
|
"frogpilotNavigation": (True, 1., 10),
|
||||||
|
"frogpilotOnroadEvents": (True, 1., 1),
|
||||||
|
"frogpilotPlan": (True, 20., 5),
|
||||||
|
"frogpilotRadarState": (True, 20., 5),
|
||||||
}
|
}
|
||||||
SERVICE_LIST = {name: Service(*vals) for
|
SERVICE_LIST = {name: Service(*vals) for
|
||||||
idx, (name, vals) in enumerate(_services.items())}
|
idx, (name, vals) in enumerate(_services.items())}
|
||||||
|
|||||||
@ -5,7 +5,10 @@ from datetime import datetime, timedelta
|
|||||||
from openpilot.system.hardware.hw import Paths
|
from openpilot.system.hardware.hw import Paths
|
||||||
from openpilot.system.version import get_version
|
from openpilot.system.version import get_version
|
||||||
|
|
||||||
|
from openpilot.frogpilot.common.frogpilot_utilities import use_konik_server
|
||||||
|
|
||||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||||
|
KONIK_API_HOST = os.getenv('API_HOST', 'https://api.konik.ai')
|
||||||
|
|
||||||
class Api:
|
class Api:
|
||||||
def __init__(self, dongle_id):
|
def __init__(self, dongle_id):
|
||||||
@ -43,4 +46,4 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
|||||||
|
|
||||||
headers['User-Agent'] = "openpilot-" + get_version()
|
headers['User-Agent'] = "openpilot-" + get_version()
|
||||||
|
|
||||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
return requests.request(method, (KONIK_API_HOST if use_konik_server() else API_HOST) + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||||
|
|||||||
@ -79,6 +79,10 @@ cl_context cl_create_context(cl_device_id device_id) {
|
|||||||
return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void cl_release_context(cl_context context) {
|
||||||
|
clReleaseContext(context);
|
||||||
|
}
|
||||||
|
|
||||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
|
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
|
||||||
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
|
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
|
||||||
}
|
}
|
||||||
|
|||||||
@ -23,6 +23,7 @@
|
|||||||
|
|
||||||
cl_device_id cl_get_device_id(cl_device_type device_type);
|
cl_device_id cl_get_device_id(cl_device_type device_type);
|
||||||
cl_context cl_create_context(cl_device_id device_id);
|
cl_context cl_create_context(cl_device_id device_id);
|
||||||
|
void cl_release_context(cl_context context);
|
||||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
||||||
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
|
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
|
||||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||||
|
|||||||
@ -11,6 +11,14 @@ class Conversions:
|
|||||||
MS_TO_KNOTS = 1.9438
|
MS_TO_KNOTS = 1.9438
|
||||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||||
|
|
||||||
|
# Distance
|
||||||
|
METER_TO_FOOT = 3.28084
|
||||||
|
FOOT_TO_METER = 1. / METER_TO_FOOT
|
||||||
|
METER_TO_MILE = METER_TO_FOOT / 5280
|
||||||
|
MILE_TO_METER = 1. / METER_TO_MILE
|
||||||
|
CM_TO_INCH = 1. / 2.54
|
||||||
|
INCH_TO_CM = 1. / CM_TO_INCH
|
||||||
|
|
||||||
# Angle
|
# Angle
|
||||||
DEG_TO_RAD = np.pi / 180.
|
DEG_TO_RAD = np.pi / 180.
|
||||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||||
|
|||||||
372
common/params.cc
372
common/params.cc
@ -76,6 +76,10 @@ std::string ensure_params_path(const std::string &prefix, const std::string &pat
|
|||||||
class FileLock {
|
class FileLock {
|
||||||
public:
|
public:
|
||||||
FileLock(const std::string &fn) {
|
FileLock(const std::string &fn) {
|
||||||
|
if (fn.rfind("/cache", 0) == 0 || fn.rfind("/data/params_backup", 0) == 0) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
|
fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
|
||||||
if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
|
if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
|
||||||
LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
|
LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
|
||||||
@ -138,7 +142,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"HasAcceptedTerms", PERSISTENT},
|
{"HasAcceptedTerms", PERSISTENT},
|
||||||
{"IMEI", PERSISTENT},
|
{"IMEI", PERSISTENT},
|
||||||
{"InstallDate", PERSISTENT},
|
{"InstallDate", PERSISTENT},
|
||||||
{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
|
{"IsDriverViewEnabled", CLEAR_ON_ONROAD_TRANSITION},
|
||||||
{"IsEngaged", PERSISTENT},
|
{"IsEngaged", PERSISTENT},
|
||||||
{"IsLdwEnabled", PERSISTENT},
|
{"IsLdwEnabled", PERSISTENT},
|
||||||
{"IsMetric", PERSISTENT},
|
{"IsMetric", PERSISTENT},
|
||||||
@ -157,6 +161,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
|
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
|
||||||
{"LastUpdateException", CLEAR_ON_MANAGER_START},
|
{"LastUpdateException", CLEAR_ON_MANAGER_START},
|
||||||
{"LastUpdateTime", PERSISTENT},
|
{"LastUpdateTime", PERSISTENT},
|
||||||
|
{"LiveDelay", PERSISTENT},
|
||||||
{"LiveParameters", PERSISTENT},
|
{"LiveParameters", PERSISTENT},
|
||||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||||
{"LongitudinalPersonality", PERSISTENT},
|
{"LongitudinalPersonality", PERSISTENT},
|
||||||
@ -189,6 +194,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
||||||
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||||
{"RouteCount", PERSISTENT},
|
{"RouteCount", PERSISTENT},
|
||||||
|
{"SecOCKey", PERSISTENT | DONT_LOG},
|
||||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||||
{"SshEnabled", PERSISTENT},
|
{"SshEnabled", PERSISTENT},
|
||||||
{"TermsVersion", PERSISTENT},
|
{"TermsVersion", PERSISTENT},
|
||||||
@ -207,6 +213,370 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
|
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
|
||||||
{"UpdaterLastFetchTime", PERSISTENT},
|
{"UpdaterLastFetchTime", PERSISTENT},
|
||||||
{"Version", PERSISTENT},
|
{"Version", PERSISTENT},
|
||||||
|
|
||||||
|
// FrogPilot parameters
|
||||||
|
{"AccelerationPath", PERSISTENT},
|
||||||
|
{"AccelerationProfile", PERSISTENT},
|
||||||
|
{"AdjacentLeadsUI", PERSISTENT},
|
||||||
|
{"AdjacentPath", PERSISTENT},
|
||||||
|
{"AdjacentPathMetrics", PERSISTENT},
|
||||||
|
{"AdvancedCustomUI", PERSISTENT},
|
||||||
|
{"AdvancedLateralTune", PERSISTENT},
|
||||||
|
{"AdvancedLongitudinalTune", PERSISTENT},
|
||||||
|
{"AggressiveFollow", PERSISTENT},
|
||||||
|
{"AggressiveJerkAcceleration", PERSISTENT},
|
||||||
|
{"AggressiveJerkDanger", PERSISTENT},
|
||||||
|
{"AggressiveJerkDeceleration", PERSISTENT},
|
||||||
|
{"AggressiveJerkSpeed", PERSISTENT},
|
||||||
|
{"AggressiveJerkSpeedDecrease", PERSISTENT},
|
||||||
|
{"AggressivePersonalityProfile", PERSISTENT},
|
||||||
|
{"AlertVolumeControl", PERSISTENT},
|
||||||
|
{"AlwaysOnLateral", PERSISTENT},
|
||||||
|
{"AlwaysOnLateralLKAS", PERSISTENT},
|
||||||
|
{"AlwaysOnLateralMain", PERSISTENT},
|
||||||
|
{"AMapKey1", PERSISTENT | DONT_LOG},
|
||||||
|
{"AMapKey2", PERSISTENT | DONT_LOG},
|
||||||
|
{"ApiCache_DriveStats", PERSISTENT},
|
||||||
|
{"AutomaticallyDownloadModels", PERSISTENT},
|
||||||
|
{"AutomaticUpdates", PERSISTENT},
|
||||||
|
{"AvailableModelNames", PERSISTENT},
|
||||||
|
{"AvailableModels", PERSISTENT},
|
||||||
|
{"BigMap", PERSISTENT},
|
||||||
|
{"BlacklistedModels", PERSISTENT},
|
||||||
|
{"BlindSpotMetrics", PERSISTENT},
|
||||||
|
{"BlindSpotPath", PERSISTENT},
|
||||||
|
{"BorderMetrics", PERSISTENT},
|
||||||
|
{"CalibratedLateralAcceleration", PERSISTENT},
|
||||||
|
{"CalibrationProgress", PERSISTENT},
|
||||||
|
{"CameraView", PERSISTENT},
|
||||||
|
{"CancelModelDownload", CLEAR_ON_MANAGER_START},
|
||||||
|
{"CancelThemeDownload", CLEAR_ON_MANAGER_START},
|
||||||
|
{"CarMake", PERSISTENT},
|
||||||
|
{"CarModel", PERSISTENT},
|
||||||
|
{"CarModelName", PERSISTENT},
|
||||||
|
{"CECurves", PERSISTENT},
|
||||||
|
{"CECurvesLead", PERSISTENT},
|
||||||
|
{"CELead", PERSISTENT},
|
||||||
|
{"CEModelStopTime", PERSISTENT},
|
||||||
|
{"CENavigation", PERSISTENT},
|
||||||
|
{"CENavigationIntersections", PERSISTENT},
|
||||||
|
{"CENavigationLead", PERSISTENT},
|
||||||
|
{"CENavigationTurns", PERSISTENT},
|
||||||
|
{"CESignalSpeed", PERSISTENT},
|
||||||
|
{"CESignalLaneDetection", PERSISTENT},
|
||||||
|
{"CESlowerLead", PERSISTENT},
|
||||||
|
{"CESpeed", PERSISTENT},
|
||||||
|
{"CESpeedLead", PERSISTENT},
|
||||||
|
{"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
|
||||||
|
{"CEStoppedLead", PERSISTENT},
|
||||||
|
{"ClusterOffset", PERSISTENT},
|
||||||
|
{"ColorToDownload", CLEAR_ON_MANAGER_START},
|
||||||
|
{"Compass", PERSISTENT},
|
||||||
|
{"ConditionalExperimental", PERSISTENT},
|
||||||
|
{"CurvatureData", PERSISTENT | DONT_LOG},
|
||||||
|
{"CurveSpeedController", PERSISTENT},
|
||||||
|
{"CustomAlerts", PERSISTENT},
|
||||||
|
{"CustomColors", PERSISTENT},
|
||||||
|
{"CustomCruise", PERSISTENT},
|
||||||
|
{"CustomCruiseLong", PERSISTENT},
|
||||||
|
{"CustomDistanceIcons", PERSISTENT},
|
||||||
|
{"CustomIcons", PERSISTENT},
|
||||||
|
{"CustomPersonalities", PERSISTENT},
|
||||||
|
{"CustomSignals", PERSISTENT},
|
||||||
|
{"CustomSounds", PERSISTENT},
|
||||||
|
{"CustomUI", PERSISTENT},
|
||||||
|
{"DebugMode", CLEAR_ON_OFFROAD_TRANSITION},
|
||||||
|
{"DecelerationProfile", PERSISTENT},
|
||||||
|
{"DeveloperMetrics", PERSISTENT},
|
||||||
|
{"DeveloperSidebar", PERSISTENT},
|
||||||
|
{"DeveloperSidebarMetric1", PERSISTENT},
|
||||||
|
{"DeveloperSidebarMetric2", PERSISTENT},
|
||||||
|
{"DeveloperSidebarMetric3", PERSISTENT},
|
||||||
|
{"DeveloperSidebarMetric4", PERSISTENT},
|
||||||
|
{"DeveloperSidebarMetric5", PERSISTENT},
|
||||||
|
{"DeveloperSidebarMetric6", PERSISTENT},
|
||||||
|
{"DeveloperSidebarMetric7", PERSISTENT},
|
||||||
|
{"DeveloperWidgets", PERSISTENT},
|
||||||
|
{"DeveloperUI", PERSISTENT},
|
||||||
|
{"DeviceManagement", PERSISTENT},
|
||||||
|
{"DeviceShutdown", PERSISTENT},
|
||||||
|
{"DisableOnroadUploads", PERSISTENT},
|
||||||
|
{"DisableOpenpilotLongitudinal", PERSISTENT},
|
||||||
|
{"DiscordUsername", PERSISTENT},
|
||||||
|
{"DistanceButtonControl", PERSISTENT},
|
||||||
|
{"DistanceIconToDownload", CLEAR_ON_MANAGER_START},
|
||||||
|
{"DisengageVolume", PERSISTENT},
|
||||||
|
{"DoToggleReset", PERSISTENT},
|
||||||
|
{"DoToggleResetStock", PERSISTENT},
|
||||||
|
{"DownloadableColors", PERSISTENT},
|
||||||
|
{"DownloadableDistanceIcons", PERSISTENT},
|
||||||
|
{"DownloadableIcons", PERSISTENT},
|
||||||
|
{"DownloadableSignals", PERSISTENT},
|
||||||
|
{"DownloadableSounds", PERSISTENT},
|
||||||
|
{"DownloadableWheels", PERSISTENT},
|
||||||
|
{"DownloadAllModels", CLEAR_ON_MANAGER_START},
|
||||||
|
{"DriverCamera", PERSISTENT},
|
||||||
|
{"DynamicPathWidth", PERSISTENT},
|
||||||
|
{"DynamicPedalsOnUI", PERSISTENT},
|
||||||
|
{"EngageVolume", PERSISTENT},
|
||||||
|
{"ExperimentalGMTune", PERSISTENT},
|
||||||
|
{"Fahrenheit", PERSISTENT},
|
||||||
|
{"FavoriteDestinations", PERSISTENT | DONT_LOG},
|
||||||
|
{"FlashPanda", CLEAR_ON_MANAGER_START},
|
||||||
|
{"ForceAutoTune", PERSISTENT},
|
||||||
|
{"ForceAutoTuneOff", PERSISTENT},
|
||||||
|
{"ForceFingerprint", PERSISTENT},
|
||||||
|
{"ForceMPHDashboard", PERSISTENT},
|
||||||
|
{"ForceOffroad", CLEAR_ON_MANAGER_START},
|
||||||
|
{"ForceOnroad", CLEAR_ON_MANAGER_START},
|
||||||
|
{"ForceStops", PERSISTENT},
|
||||||
|
{"ForceTorqueController", PERSISTENT},
|
||||||
|
{"FPSCounter", PERSISTENT},
|
||||||
|
{"FrogPilotCarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||||
|
{"FrogPilotCarParamsPersistent", PERSISTENT},
|
||||||
|
{"FrogPilotDongleId", PERSISTENT | DONT_LOG},
|
||||||
|
{"FrogPilotDrives", PERSISTENT},
|
||||||
|
{"FrogPilotKilometers", PERSISTENT},
|
||||||
|
{"FrogPilotMinutes", PERSISTENT},
|
||||||
|
{"FrogPilotStats", PERSISTENT | DONT_LOG},
|
||||||
|
{"FrogPilotToggles", CLEAR_ON_MANAGER_START},
|
||||||
|
{"FrogPilotTogglesUpdated", CLEAR_ON_MANAGER_START},
|
||||||
|
{"FrogPilotTuningLevels", CLEAR_ON_MANAGER_START},
|
||||||
|
{"FrogsGoMoosTweak", PERSISTENT},
|
||||||
|
{"FullMap", PERSISTENT},
|
||||||
|
{"GasRegenCmd", PERSISTENT},
|
||||||
|
{"GoatScream", PERSISTENT},
|
||||||
|
{"GreenLightAlert", PERSISTENT},
|
||||||
|
{"HideAlerts", PERSISTENT},
|
||||||
|
{"HideLeadMarker", PERSISTENT},
|
||||||
|
{"HideMap", PERSISTENT},
|
||||||
|
{"HideMapIcon", PERSISTENT},
|
||||||
|
{"HideMaxSpeed", PERSISTENT},
|
||||||
|
{"HideSpeed", PERSISTENT},
|
||||||
|
{"HideSpeedLimit", PERSISTENT},
|
||||||
|
{"HigherBitrate", PERSISTENT},
|
||||||
|
{"HolidayThemes", PERSISTENT},
|
||||||
|
{"HumanAcceleration", PERSISTENT},
|
||||||
|
{"HumanFollowing", PERSISTENT},
|
||||||
|
{"IconToDownload", CLEAR_ON_MANAGER_START},
|
||||||
|
{"IncreasedStoppedDistance", PERSISTENT},
|
||||||
|
{"IncreaseThermalLimits", PERSISTENT},
|
||||||
|
{"IssueReported", CLEAR_ON_MANAGER_START},
|
||||||
|
{"KonikDongleId", PERSISTENT},
|
||||||
|
{"KonikMinutes", PERSISTENT},
|
||||||
|
{"LaneChanges", PERSISTENT},
|
||||||
|
{"LaneChangeTime", PERSISTENT},
|
||||||
|
{"LaneDetectionWidth", PERSISTENT},
|
||||||
|
{"LaneLinesWidth", PERSISTENT},
|
||||||
|
{"LastMapsUpdate", PERSISTENT},
|
||||||
|
{"LateralTune", PERSISTENT},
|
||||||
|
{"LeadDepartingAlert", PERSISTENT},
|
||||||
|
{"LeadDetectionThreshold", PERSISTENT},
|
||||||
|
{"LeadInfo", PERSISTENT},
|
||||||
|
{"LKASButtonControl", PERSISTENT},
|
||||||
|
{"LockDoors", PERSISTENT},
|
||||||
|
{"LockDoorsTimer", PERSISTENT},
|
||||||
|
{"LongDistanceButtonControl", PERSISTENT},
|
||||||
|
{"LongitudinalActuatorDelay", PERSISTENT},
|
||||||
|
{"LongitudinalActuatorDelayStock", PERSISTENT},
|
||||||
|
{"LongitudinalTune", PERSISTENT},
|
||||||
|
{"LongPitch", PERSISTENT},
|
||||||
|
{"LoudBlindspotAlert", PERSISTENT},
|
||||||
|
{"LowVoltageShutdown", PERSISTENT},
|
||||||
|
{"ManualUpdateInitiated", CLEAR_ON_MANAGER_START},
|
||||||
|
{"MapAcceleration", PERSISTENT},
|
||||||
|
{"MapboxPublicKey", PERSISTENT | DONT_LOG},
|
||||||
|
{"MapBoxRequests", PERSISTENT},
|
||||||
|
{"MapboxSecretKey", PERSISTENT | DONT_LOG},
|
||||||
|
{"MapDeceleration", PERSISTENT},
|
||||||
|
{"MapdLogLevel", CLEAR_ON_MANAGER_START},
|
||||||
|
{"MapGears", PERSISTENT},
|
||||||
|
{"MapsSelected", PERSISTENT},
|
||||||
|
{"MapSpeedLimit", CLEAR_ON_MANAGER_START},
|
||||||
|
{"MapStyle", PERSISTENT},
|
||||||
|
{"MaxDesiredAcceleration", PERSISTENT},
|
||||||
|
{"MinimumBackupSize", PERSISTENT},
|
||||||
|
{"MinimumLaneChangeSpeed", PERSISTENT},
|
||||||
|
{"Model", PERSISTENT},
|
||||||
|
{"ModelDownloadProgress", CLEAR_ON_MANAGER_START},
|
||||||
|
{"ModelDrivesAndScores", PERSISTENT},
|
||||||
|
{"ModelRandomizer", PERSISTENT},
|
||||||
|
{"ModelToDownload", CLEAR_ON_MANAGER_START},
|
||||||
|
{"ModelUI", PERSISTENT},
|
||||||
|
{"ModelVersions", PERSISTENT},
|
||||||
|
{"NavigationUI", PERSISTENT},
|
||||||
|
{"NextMapSpeedLimit", CLEAR_ON_MANAGER_START},
|
||||||
|
{"NewLongAPI", PERSISTENT},
|
||||||
|
{"NNFF", PERSISTENT},
|
||||||
|
{"NNFFLite", PERSISTENT},
|
||||||
|
{"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION},
|
||||||
|
{"NoLogging", PERSISTENT},
|
||||||
|
{"NoUploads", PERSISTENT},
|
||||||
|
{"NudgelessLaneChange", PERSISTENT},
|
||||||
|
{"NumericalTemp", PERSISTENT},
|
||||||
|
{"Offset1", PERSISTENT},
|
||||||
|
{"Offset2", PERSISTENT},
|
||||||
|
{"Offset3", PERSISTENT},
|
||||||
|
{"Offset4", PERSISTENT},
|
||||||
|
{"Offset5", PERSISTENT},
|
||||||
|
{"Offset6", PERSISTENT},
|
||||||
|
{"Offset7", PERSISTENT},
|
||||||
|
{"OneLaneChange", PERSISTENT},
|
||||||
|
{"OnroadDistanceButton", PERSISTENT},
|
||||||
|
{"OnroadDistanceButtonPressed", CLEAR_ON_MANAGER_START},
|
||||||
|
{"openpilotMinutes", PERSISTENT},
|
||||||
|
{"OSMDownloadBounds", PERSISTENT},
|
||||||
|
{"OSMDownloadLocations", PERSISTENT},
|
||||||
|
{"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
|
||||||
|
{"OverpassRequests", PERSISTENT},
|
||||||
|
{"PathEdgeWidth", PERSISTENT},
|
||||||
|
{"PathWidth", PERSISTENT},
|
||||||
|
{"PauseAOLOnBrake", PERSISTENT},
|
||||||
|
{"PauseLateralOnSignal", PERSISTENT},
|
||||||
|
{"PauseLateralSpeed", PERSISTENT},
|
||||||
|
{"PedalsOnUI", PERSISTENT},
|
||||||
|
{"PersonalizeOpenpilot", PERSISTENT},
|
||||||
|
{"PreferredSchedule", PERSISTENT},
|
||||||
|
{"PreviousSpeedLimit", PERSISTENT},
|
||||||
|
{"PromptDistractedVolume", PERSISTENT},
|
||||||
|
{"PromptVolume", PERSISTENT},
|
||||||
|
{"QOLLateral", PERSISTENT},
|
||||||
|
{"QOLLongitudinal", PERSISTENT},
|
||||||
|
{"QOLVisuals", PERSISTENT},
|
||||||
|
{"RadarTracksUI", PERSISTENT},
|
||||||
|
{"RainbowPath", PERSISTENT},
|
||||||
|
{"RandomEvents", PERSISTENT},
|
||||||
|
{"RandomThemes", PERSISTENT},
|
||||||
|
{"RefuseVolume", PERSISTENT},
|
||||||
|
{"RelaxedFollow", PERSISTENT},
|
||||||
|
{"RelaxedJerkAcceleration", PERSISTENT},
|
||||||
|
{"RelaxedJerkDanger", PERSISTENT},
|
||||||
|
{"RelaxedJerkDeceleration", PERSISTENT},
|
||||||
|
{"RelaxedJerkSpeed", PERSISTENT},
|
||||||
|
{"RelaxedJerkSpeedDecrease", PERSISTENT},
|
||||||
|
{"RelaxedPersonalityProfile", PERSISTENT},
|
||||||
|
{"ReverseCruise", PERSISTENT},
|
||||||
|
{"RoadEdgesWidth", PERSISTENT},
|
||||||
|
{"RoadName", CLEAR_ON_MANAGER_START},
|
||||||
|
{"RoadNameUI", PERSISTENT},
|
||||||
|
{"RotatingWheel", PERSISTENT},
|
||||||
|
{"ScreenBrightness", PERSISTENT},
|
||||||
|
{"ScreenBrightnessOnroad", PERSISTENT},
|
||||||
|
{"ScreenManagement", PERSISTENT},
|
||||||
|
{"ScreenRecorder", PERSISTENT},
|
||||||
|
{"ScreenTimeout", PERSISTENT},
|
||||||
|
{"ScreenTimeoutOnroad", PERSISTENT},
|
||||||
|
{"SearchInput", PERSISTENT},
|
||||||
|
{"SecOCKeys", PERSISTENT | DONT_LOG},
|
||||||
|
{"SetSpeedLimit", PERSISTENT},
|
||||||
|
{"SetSpeedOffset", PERSISTENT},
|
||||||
|
{"ShowCEMStatus", PERSISTENT},
|
||||||
|
{"ShowCPU", PERSISTENT},
|
||||||
|
{"ShowCSCStatus", PERSISTENT},
|
||||||
|
{"ShowGPU", PERSISTENT},
|
||||||
|
{"ShowIP", PERSISTENT},
|
||||||
|
{"ShowMemoryUsage", PERSISTENT},
|
||||||
|
{"ShownToggleDescriptions", PERSISTENT},
|
||||||
|
{"ShowSLCOffset", PERSISTENT},
|
||||||
|
{"ShowSpeedLimits", PERSISTENT},
|
||||||
|
{"ShowSteering", PERSISTENT},
|
||||||
|
{"ShowStoppingPoint", PERSISTENT},
|
||||||
|
{"ShowStoppingPointMetrics", PERSISTENT},
|
||||||
|
{"ShowStorageLeft", PERSISTENT},
|
||||||
|
{"ShowStorageUsed", PERSISTENT},
|
||||||
|
{"Sidebar", PERSISTENT},
|
||||||
|
{"SignalMetrics", PERSISTENT},
|
||||||
|
{"SignalToDownload", CLEAR_ON_MANAGER_START},
|
||||||
|
{"SLCConfirmation", PERSISTENT},
|
||||||
|
{"SLCConfirmationHigher", PERSISTENT},
|
||||||
|
{"SLCConfirmationLower", PERSISTENT},
|
||||||
|
{"SLCFallback", PERSISTENT},
|
||||||
|
{"SLCLookaheadHigher", PERSISTENT},
|
||||||
|
{"SLCLookaheadLower", PERSISTENT},
|
||||||
|
{"SLCMapboxFiller", PERSISTENT},
|
||||||
|
{"SLCOverride", PERSISTENT},
|
||||||
|
{"SLCPriority1", PERSISTENT},
|
||||||
|
{"SLCPriority2", PERSISTENT},
|
||||||
|
{"SLCPriority3", PERSISTENT},
|
||||||
|
{"SNGHack", PERSISTENT},
|
||||||
|
{"SoundToDownload", CLEAR_ON_MANAGER_START},
|
||||||
|
{"SpeedLimitAccepted", CLEAR_ON_MANAGER_START},
|
||||||
|
{"SpeedLimitChangedAlert", PERSISTENT},
|
||||||
|
{"SpeedLimitController", PERSISTENT},
|
||||||
|
{"SpeedLimitFiller", PERSISTENT},
|
||||||
|
{"SpeedLimits", PERSISTENT | DONT_LOG},
|
||||||
|
{"SpeedLimitsFiltered", PERSISTENT | DONT_LOG},
|
||||||
|
{"SpeedLimitSources", PERSISTENT},
|
||||||
|
{"StandardFollow", PERSISTENT},
|
||||||
|
{"StandardJerkAcceleration", PERSISTENT},
|
||||||
|
{"StandardJerkDanger", PERSISTENT},
|
||||||
|
{"StandardJerkDeceleration", PERSISTENT},
|
||||||
|
{"StandardJerkSpeed", PERSISTENT},
|
||||||
|
{"StandardJerkSpeedDecrease", PERSISTENT},
|
||||||
|
{"StandardPersonalityProfile", PERSISTENT},
|
||||||
|
{"StandbyMode", PERSISTENT},
|
||||||
|
{"StartAccel", PERSISTENT},
|
||||||
|
{"StartAccelStock", PERSISTENT},
|
||||||
|
{"StartupMessageBottom", PERSISTENT},
|
||||||
|
{"StartupMessageTop", PERSISTENT},
|
||||||
|
{"StaticPedalsOnUI", PERSISTENT},
|
||||||
|
{"SteerDelay", PERSISTENT},
|
||||||
|
{"SteerDelayStock", PERSISTENT},
|
||||||
|
{"SteerFriction", PERSISTENT},
|
||||||
|
{"SteerFrictionStock", PERSISTENT},
|
||||||
|
{"SteerLatAccel", PERSISTENT},
|
||||||
|
{"SteerLatAccelStock", PERSISTENT},
|
||||||
|
{"SteerKP", PERSISTENT},
|
||||||
|
{"SteerKPStock", PERSISTENT},
|
||||||
|
{"SteerRatio", PERSISTENT},
|
||||||
|
{"SteerRatioStock", PERSISTENT},
|
||||||
|
{"StockDongleId", PERSISTENT},
|
||||||
|
{"StopAccel", PERSISTENT},
|
||||||
|
{"StopAccelStock", PERSISTENT},
|
||||||
|
{"StoppingDecelRate", PERSISTENT},
|
||||||
|
{"StoppingDecelRateStock", PERSISTENT},
|
||||||
|
{"StoppedTimer", PERSISTENT},
|
||||||
|
{"TacoTune", PERSISTENT},
|
||||||
|
{"TacoTuneHacks", PERSISTENT},
|
||||||
|
{"TestAlert", CLEAR_ON_MANAGER_START},
|
||||||
|
{"TetheringEnabled", PERSISTENT},
|
||||||
|
{"ThemeDownloadProgress", CLEAR_ON_MANAGER_START},
|
||||||
|
{"ThemesDownloaded", PERSISTENT},
|
||||||
|
{"TinygradUpdateAvailable", PERSISTENT},
|
||||||
|
{"TogglesUpdated", PERSISTENT},
|
||||||
|
{"ToyotaDoors", PERSISTENT},
|
||||||
|
{"TrafficFollow", PERSISTENT},
|
||||||
|
{"TrafficJerkAcceleration", PERSISTENT},
|
||||||
|
{"TrafficJerkDanger", PERSISTENT},
|
||||||
|
{"TrafficJerkDeceleration", PERSISTENT},
|
||||||
|
{"TrafficJerkSpeed", PERSISTENT},
|
||||||
|
{"TrafficJerkSpeedDecrease", PERSISTENT},
|
||||||
|
{"TrafficPersonalityProfile", PERSISTENT},
|
||||||
|
{"TuningLevel", PERSISTENT},
|
||||||
|
{"TuningLevelConfirmed", PERSISTENT},
|
||||||
|
{"TurnDesires", PERSISTENT},
|
||||||
|
{"UnlimitedLength", PERSISTENT},
|
||||||
|
{"UnlockDoors", PERSISTENT},
|
||||||
|
{"Updated", PERSISTENT},
|
||||||
|
{"UpdateSpeedLimits", CLEAR_ON_MANAGER_START},
|
||||||
|
{"UpdateSpeedLimitsStatus", CLEAR_ON_MANAGER_START},
|
||||||
|
{"UpdateTinygrad", CLEAR_ON_MANAGER_START},
|
||||||
|
{"UpdateWheelImage", CLEAR_ON_MANAGER_START},
|
||||||
|
{"UseActiveTheme", CLEAR_ON_MANAGER_START},
|
||||||
|
{"UseKonikServer", PERSISTENT},
|
||||||
|
{"UseSI", PERSISTENT},
|
||||||
|
{"UseVienna", PERSISTENT},
|
||||||
|
{"VEgoStarting", PERSISTENT},
|
||||||
|
{"VEgoStartingStock", PERSISTENT},
|
||||||
|
{"VEgoStopping", PERSISTENT},
|
||||||
|
{"VEgoStoppingStock", PERSISTENT},
|
||||||
|
{"VeryLongDistanceButtonControl", PERSISTENT},
|
||||||
|
{"VoltSNG", PERSISTENT},
|
||||||
|
{"WarningImmediateVolume", PERSISTENT},
|
||||||
|
{"WarningSoftVolume", PERSISTENT},
|
||||||
|
{"WheelIcon", PERSISTENT},
|
||||||
|
{"WheelSpeed", PERSISTENT},
|
||||||
|
{"WheelToDownload", CLEAR_ON_MANAGER_START},
|
||||||
};
|
};
|
||||||
|
|
||||||
} // namespace
|
} // namespace
|
||||||
|
|||||||
@ -43,6 +43,14 @@ public:
|
|||||||
inline bool getBool(const std::string &key, bool block = false) {
|
inline bool getBool(const std::string &key, bool block = false) {
|
||||||
return get(key, block) == "1";
|
return get(key, block) == "1";
|
||||||
}
|
}
|
||||||
|
inline int getInt(const std::string &key, bool block = false) {
|
||||||
|
std::string value = get(key, block);
|
||||||
|
return value.empty() ? 0 : std::stoi(value);
|
||||||
|
}
|
||||||
|
inline float getFloat(const std::string &key, bool block = false) {
|
||||||
|
std::string value = get(key, block);
|
||||||
|
return value.empty() ? 0.0 : std::stof(value);
|
||||||
|
}
|
||||||
std::map<std::string, std::string> readAll();
|
std::map<std::string, std::string> readAll();
|
||||||
|
|
||||||
// helpers for writing values
|
// helpers for writing values
|
||||||
@ -53,10 +61,22 @@ public:
|
|||||||
inline int putBool(const std::string &key, bool val) {
|
inline int putBool(const std::string &key, bool val) {
|
||||||
return put(key.c_str(), val ? "1" : "0", 1);
|
return put(key.c_str(), val ? "1" : "0", 1);
|
||||||
}
|
}
|
||||||
|
inline int putInt(const std::string &key, int val) {
|
||||||
|
return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
|
||||||
|
}
|
||||||
|
inline int putFloat(const std::string &key, float val) {
|
||||||
|
return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
|
||||||
|
}
|
||||||
void putNonBlocking(const std::string &key, const std::string &val);
|
void putNonBlocking(const std::string &key, const std::string &val);
|
||||||
inline void putBoolNonBlocking(const std::string &key, bool val) {
|
inline void putBoolNonBlocking(const std::string &key, bool val) {
|
||||||
putNonBlocking(key, val ? "1" : "0");
|
putNonBlocking(key, val ? "1" : "0");
|
||||||
}
|
}
|
||||||
|
inline void putIntNonBlocking(const std::string &key, int val) {
|
||||||
|
putNonBlocking(key, std::to_string(val));
|
||||||
|
}
|
||||||
|
inline void putFloatNonBlocking(const std::string &key, float val) {
|
||||||
|
putNonBlocking(key, std::to_string(val));
|
||||||
|
}
|
||||||
|
|
||||||
private:
|
private:
|
||||||
void asyncWriteThread();
|
void asyncWriteThread();
|
||||||
|
|||||||
@ -17,11 +17,17 @@ cdef extern from "common/params.h":
|
|||||||
c_Params(string) except + nogil
|
c_Params(string) except + nogil
|
||||||
string get(string, bool) nogil
|
string get(string, bool) nogil
|
||||||
bool getBool(string, bool) nogil
|
bool getBool(string, bool) nogil
|
||||||
|
int getInt(string, bool) nogil
|
||||||
|
float getFloat(string, bool) nogil
|
||||||
int remove(string) nogil
|
int remove(string) nogil
|
||||||
int put(string, string) nogil
|
int put(string, string) nogil
|
||||||
void putNonBlocking(string, string) nogil
|
void putNonBlocking(string, string) nogil
|
||||||
void putBoolNonBlocking(string, bool) nogil
|
void putBoolNonBlocking(string, bool) nogil
|
||||||
|
void putIntNonBlocking(string, int) nogil
|
||||||
|
void putFloatNonBlocking(string, float) nogil
|
||||||
int putBool(string, bool) nogil
|
int putBool(string, bool) nogil
|
||||||
|
int putInt(string, int) nogil
|
||||||
|
int putFloat(string, float) nogil
|
||||||
bool checkKey(string) nogil
|
bool checkKey(string) nogil
|
||||||
string getParamPath(string) nogil
|
string getParamPath(string) nogil
|
||||||
void clearAll(ParamKeyType)
|
void clearAll(ParamKeyType)
|
||||||
@ -77,6 +83,20 @@ cdef class Params:
|
|||||||
r = self.p.getBool(k, block)
|
r = self.p.getBool(k, block)
|
||||||
return r
|
return r
|
||||||
|
|
||||||
|
def get_int(self, key, bool block=False):
|
||||||
|
cdef string k = self.check_key(key)
|
||||||
|
cdef int r
|
||||||
|
with nogil:
|
||||||
|
r = self.p.getInt(k, block)
|
||||||
|
return r
|
||||||
|
|
||||||
|
def get_float(self, key, bool block=False):
|
||||||
|
cdef string k = self.check_key(key)
|
||||||
|
cdef float r
|
||||||
|
with nogil:
|
||||||
|
r = self.p.getFloat(k, block)
|
||||||
|
return r
|
||||||
|
|
||||||
def put(self, key, dat):
|
def put(self, key, dat):
|
||||||
"""
|
"""
|
||||||
Warning: This function blocks until the param is written to disk!
|
Warning: This function blocks until the param is written to disk!
|
||||||
@ -94,6 +114,16 @@ cdef class Params:
|
|||||||
with nogil:
|
with nogil:
|
||||||
self.p.putBool(k, val)
|
self.p.putBool(k, val)
|
||||||
|
|
||||||
|
def put_int(self, key, int val):
|
||||||
|
cdef string k = self.check_key(key)
|
||||||
|
with nogil:
|
||||||
|
self.p.putInt(k, val)
|
||||||
|
|
||||||
|
def put_float(self, key, float val):
|
||||||
|
cdef string k = self.check_key(key)
|
||||||
|
with nogil:
|
||||||
|
self.p.putFloat(k, val)
|
||||||
|
|
||||||
def put_nonblocking(self, key, dat):
|
def put_nonblocking(self, key, dat):
|
||||||
cdef string k = self.check_key(key)
|
cdef string k = self.check_key(key)
|
||||||
cdef string dat_bytes = ensure_bytes(dat)
|
cdef string dat_bytes = ensure_bytes(dat)
|
||||||
@ -105,6 +135,16 @@ cdef class Params:
|
|||||||
with nogil:
|
with nogil:
|
||||||
self.p.putBoolNonBlocking(k, val)
|
self.p.putBoolNonBlocking(k, val)
|
||||||
|
|
||||||
|
def put_int_nonblocking(self, key, int val):
|
||||||
|
cdef string k = self.check_key(key)
|
||||||
|
with nogil:
|
||||||
|
self.p.putIntNonBlocking(k, val)
|
||||||
|
|
||||||
|
def put_float_nonblocking(self, key, float val):
|
||||||
|
cdef string k = self.check_key(key)
|
||||||
|
with nogil:
|
||||||
|
self.p.putFloatNonBlocking(k, val)
|
||||||
|
|
||||||
def remove(self, key):
|
def remove(self, key):
|
||||||
cdef string k = self.check_key(key)
|
cdef string k = self.check_key(key)
|
||||||
with nogil:
|
with nogil:
|
||||||
|
|||||||
@ -271,4 +271,18 @@ std::string check_output(const std::string& command) {
|
|||||||
return result;
|
return result;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
bool system_time_valid() {
|
||||||
|
// Default to March 30, 2024
|
||||||
|
tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 2, .tm_mday = 30};
|
||||||
|
|
||||||
|
time_t min_date = mktime(&min_tm);
|
||||||
|
|
||||||
|
struct stat st;
|
||||||
|
if (stat("/lib/systemd/systemd", &st) == 0) {
|
||||||
|
min_date = std::max(min_date, st.st_mtime + 86400); // Add 1 day (86400 seconds)
|
||||||
|
}
|
||||||
|
|
||||||
|
return time(nullptr) > min_date;
|
||||||
|
}
|
||||||
|
|
||||||
} // namespace util
|
} // namespace util
|
||||||
|
|||||||
@ -36,6 +36,9 @@ const double MS_TO_KPH = 3.6;
|
|||||||
const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
|
const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
|
||||||
const double METER_TO_MILE = KM_TO_MILE / 1000.0;
|
const double METER_TO_MILE = KM_TO_MILE / 1000.0;
|
||||||
const double METER_TO_FOOT = 3.28084;
|
const double METER_TO_FOOT = 3.28084;
|
||||||
|
const double FOOT_TO_METER = 1. / METER_TO_FOOT;
|
||||||
|
const double CM_TO_INCH = 1. / 2.54;
|
||||||
|
const double INCH_TO_CM = 1. / CM_TO_INCH;
|
||||||
|
|
||||||
namespace util {
|
namespace util {
|
||||||
|
|
||||||
@ -93,6 +96,8 @@ bool create_directories(const std::string &dir, mode_t mode);
|
|||||||
|
|
||||||
std::string check_output(const std::string& command);
|
std::string check_output(const std::string& command);
|
||||||
|
|
||||||
|
bool system_time_valid();
|
||||||
|
|
||||||
inline void sleep_for(const int milliseconds) {
|
inline void sleep_for(const int milliseconds) {
|
||||||
if (milliseconds > 0) {
|
if (milliseconds > 0) {
|
||||||
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
|
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
|
||||||
|
|||||||
127
frogpilot/assets/download_functions.py
Normal file
127
frogpilot/assets/download_functions.py
Normal file
@ -0,0 +1,127 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
import requests
|
||||||
|
import tempfile
|
||||||
|
|
||||||
|
from datetime import datetime
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
from openpilot.frogpilot.common.frogpilot_utilities import delete_file, is_url_pingable
|
||||||
|
from openpilot.frogpilot.common.frogpilot_variables import RESOURCES_REPO, params_memory
|
||||||
|
|
||||||
|
GITHUB_URL = f"https://raw.githubusercontent.com/{RESOURCES_REPO}"
|
||||||
|
GITLAB_URL = f"https://gitlab.com/{RESOURCES_REPO}/-/raw"
|
||||||
|
|
||||||
|
def check_github_rate_limit(session):
|
||||||
|
try:
|
||||||
|
response = session.get("https://api.github.com/rate_limit", timeout=10)
|
||||||
|
response.raise_for_status()
|
||||||
|
rate_limit_info = response.json()
|
||||||
|
|
||||||
|
remaining = rate_limit_info["rate"]["remaining"]
|
||||||
|
print(f"GitHub API Requests Remaining: {remaining}")
|
||||||
|
if remaining > 0:
|
||||||
|
return True
|
||||||
|
|
||||||
|
reset_time = datetime.utcfromtimestamp(rate_limit_info["rate"]["reset"]).strftime("%Y-%m-%d %H:%M:%S")
|
||||||
|
print("GitHub rate limit reached")
|
||||||
|
print(f"GitHub Rate Limit Resets At (UTC): {reset_time}")
|
||||||
|
return False
|
||||||
|
except requests.exceptions.RequestException as exception:
|
||||||
|
print(f"Error checking GitHub rate limit: {exception}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
def download_file(cancel_param, destination, progress_param, url, download_param, session, offset_bytes=0, total_bytes=0):
|
||||||
|
try:
|
||||||
|
destination.parent.mkdir(parents=True, exist_ok=True)
|
||||||
|
|
||||||
|
total_size = get_remote_file_size(url, session)
|
||||||
|
if total_size == 0:
|
||||||
|
if not url.endswith(".gif"):
|
||||||
|
handle_error(None, "Download invalid...", "Download invalid...", download_param, progress_param)
|
||||||
|
return
|
||||||
|
|
||||||
|
with session.get(url, stream=True, timeout=10) as response:
|
||||||
|
response.raise_for_status()
|
||||||
|
|
||||||
|
with tempfile.NamedTemporaryFile(delete=False, dir=destination.parent) as temp_file:
|
||||||
|
temp_file_path = Path(temp_file.name)
|
||||||
|
|
||||||
|
downloaded_size = 0
|
||||||
|
for chunk in response.iter_content(chunk_size=16384):
|
||||||
|
if params_memory.get_bool(cancel_param):
|
||||||
|
temp_file_path.unlink(missing_ok=True)
|
||||||
|
handle_error(None, "Download cancelled...", "Download cancelled...", download_param, progress_param)
|
||||||
|
return
|
||||||
|
|
||||||
|
if chunk:
|
||||||
|
temp_file.write(chunk)
|
||||||
|
downloaded_size += len(chunk)
|
||||||
|
|
||||||
|
if total_bytes:
|
||||||
|
overall_progress = (offset_bytes + downloaded_size) / total_bytes * 100
|
||||||
|
else:
|
||||||
|
overall_progress = downloaded_size / total_size * 100
|
||||||
|
|
||||||
|
if overall_progress != 100:
|
||||||
|
params_memory.put(progress_param, f"{overall_progress:.0f}%")
|
||||||
|
else:
|
||||||
|
params_memory.put(progress_param, "Verifying authenticity...")
|
||||||
|
|
||||||
|
temp_file_path.rename(destination)
|
||||||
|
|
||||||
|
except Exception as exception:
|
||||||
|
handle_request_error(exception, destination, download_param, progress_param)
|
||||||
|
|
||||||
|
def get_remote_file_size(url, session):
|
||||||
|
try:
|
||||||
|
response = session.head(url, headers={"Accept-Encoding": "identity"}, timeout=10)
|
||||||
|
response.raise_for_status()
|
||||||
|
return int(response.headers.get("Content-Length", 0))
|
||||||
|
except Exception as exception:
|
||||||
|
handle_request_error(exception, None, None, None)
|
||||||
|
return 0
|
||||||
|
|
||||||
|
def get_repository_url(session):
|
||||||
|
if is_url_pingable("https://github.com"):
|
||||||
|
if check_github_rate_limit(session):
|
||||||
|
return GITHUB_URL
|
||||||
|
if is_url_pingable("https://gitlab.com"):
|
||||||
|
return GITLAB_URL
|
||||||
|
return None
|
||||||
|
|
||||||
|
def handle_error(destination, error_message, error, download_param, progress_param):
|
||||||
|
if destination:
|
||||||
|
delete_file(destination)
|
||||||
|
|
||||||
|
if progress_param and "404" not in error_message:
|
||||||
|
print(f"Error occurred: {error}")
|
||||||
|
params_memory.put(progress_param, error_message)
|
||||||
|
params_memory.remove(download_param)
|
||||||
|
|
||||||
|
def handle_request_error(error, destination, download_param, progress_param):
|
||||||
|
error_map = {
|
||||||
|
requests.exceptions.ConnectionError: "Connection dropped",
|
||||||
|
requests.exceptions.HTTPError: lambda error: f"Server error ({error.response.status_code})" if error and getattr(error, "response", None) else "Server error",
|
||||||
|
requests.exceptions.RequestException: "Network request error. Check connection",
|
||||||
|
requests.exceptions.Timeout: "Download timed out",
|
||||||
|
}
|
||||||
|
|
||||||
|
error_message = error_map.get(type(error), "Unexpected error")
|
||||||
|
handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param)
|
||||||
|
|
||||||
|
def verify_download(file_path, url, session):
|
||||||
|
remote_file_size = get_remote_file_size(url, session)
|
||||||
|
|
||||||
|
if remote_file_size == 0:
|
||||||
|
print(f"Error fetching remote size for {file_path}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
if not file_path.is_file():
|
||||||
|
print(f"File not found: {file_path}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
if remote_file_size != file_path.stat().st_size:
|
||||||
|
print(f"File size mismatch for {file_path}")
|
||||||
|
return False
|
||||||
|
|
||||||
|
return True
|
||||||
@ -0,0 +1,44 @@
|
|||||||
|
{
|
||||||
|
"LaneLines": {
|
||||||
|
"red": 40,
|
||||||
|
"green": 185,
|
||||||
|
"blue": 170,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"LeadMarker": {
|
||||||
|
"red": 40,
|
||||||
|
"green": 185,
|
||||||
|
"blue": 170,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Path": {
|
||||||
|
"red": 40,
|
||||||
|
"green": 185,
|
||||||
|
"blue": 170,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"PathEdge": {
|
||||||
|
"red": 32,
|
||||||
|
"green": 148,
|
||||||
|
"blue": 136,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Sidebar1": {
|
||||||
|
"red": 40,
|
||||||
|
"green": 185,
|
||||||
|
"blue": 170,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Sidebar2": {
|
||||||
|
"red": 237,
|
||||||
|
"green": 118,
|
||||||
|
"blue": 50,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Sidebar3": {
|
||||||
|
"red": 203,
|
||||||
|
"green": 247,
|
||||||
|
"blue": 18,
|
||||||
|
"alpha": 255
|
||||||
|
}
|
||||||
|
}
|
||||||
Binary file not shown.
|
After Width: | Height: | Size: 26 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 38 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 2.5 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 50 KiB |
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|
After Width: | Height: | Size: 59 KiB |
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|
After Width: | Height: | Size: 62 KiB |
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|
After Width: | Height: | Size: 66 KiB |
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|
After Width: | Height: | Size: 50 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 59 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 43 KiB |
BIN
frogpilot/assets/holiday_themes/april_fools/sounds/disengage.wav
Normal file
BIN
frogpilot/assets/holiday_themes/april_fools/sounds/disengage.wav
Normal file
Binary file not shown.
BIN
frogpilot/assets/holiday_themes/april_fools/sounds/engage.wav
Normal file
BIN
frogpilot/assets/holiday_themes/april_fools/sounds/engage.wav
Normal file
Binary file not shown.
Binary file not shown.
|
After Width: | Height: | Size: 51 KiB |
@ -0,0 +1,44 @@
|
|||||||
|
{
|
||||||
|
"LaneLines": {
|
||||||
|
"red": 23,
|
||||||
|
"green": 130,
|
||||||
|
"blue": 59,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"LeadMarker": {
|
||||||
|
"red": 23,
|
||||||
|
"green": 130,
|
||||||
|
"blue": 59,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Path": {
|
||||||
|
"red": 23,
|
||||||
|
"green": 130,
|
||||||
|
"blue": 59,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"PathEdge": {
|
||||||
|
"red": 28,
|
||||||
|
"green": 156,
|
||||||
|
"blue": 84,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Sidebar1": {
|
||||||
|
"red": 23,
|
||||||
|
"green": 130,
|
||||||
|
"blue": 59,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Sidebar2": {
|
||||||
|
"red": 54,
|
||||||
|
"green": 133,
|
||||||
|
"blue": 192,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Sidebar3": {
|
||||||
|
"red": 194,
|
||||||
|
"green": 17,
|
||||||
|
"blue": 17,
|
||||||
|
"alpha": 255
|
||||||
|
}
|
||||||
|
}
|
||||||
Binary file not shown.
|
After Width: | Height: | Size: 88 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 54 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 64 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 29 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 28 KiB |
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|
After Width: | Height: | Size: 28 KiB |
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|
After Width: | Height: | Size: 2.6 KiB |
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|
After Width: | Height: | Size: 52 KiB |
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|
After Width: | Height: | Size: 60 KiB |
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|
After Width: | Height: | Size: 63 KiB |
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frogpilot/assets/holiday_themes/christmas_week/sounds/engage.wav
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frogpilot/assets/holiday_themes/cinco_de_mayo/sounds/engage.wav
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frogpilot/assets/holiday_themes/cinco_de_mayo/sounds/engage.wav
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frogpilot/assets/holiday_themes/cinco_de_mayo/sounds/startup.wav
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frogpilot/assets/holiday_themes/cinco_de_mayo/sounds/startup.wav
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|
|||||||
|
{
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"Path": {
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"green": 113,
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"blue": 212,
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|
},
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"PathEdge": {
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"green": 90,
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"blue": 170,
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"alpha": 255
|
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|
},
|
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|
"Sidebar1": {
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|
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|
},
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"Sidebar2": {
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|
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|
},
|
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"Sidebar3": {
|
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|
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"green": 113,
|
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"blue": 212,
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|
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|
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|
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|
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frogpilot/assets/holiday_themes/easter_week/sounds/disengage.wav
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frogpilot/assets/holiday_themes/easter_week/sounds/disengage.wav
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frogpilot/assets/holiday_themes/easter_week/sounds/engage.wav
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frogpilot/assets/holiday_themes/easter_week/sounds/engage.wav
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|
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|
|||||||
|
{
|
||||||
|
"LaneLines": {
|
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|
"red": 99,
|
||||||
|
"green": 123,
|
||||||
|
"blue": 244,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"LeadMarker": {
|
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|
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|
"green": 123,
|
||||||
|
"blue": 244,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Path": {
|
||||||
|
"red": 99,
|
||||||
|
"green": 123,
|
||||||
|
"blue": 244,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"PathEdge": {
|
||||||
|
"red": 255,
|
||||||
|
"green": 255,
|
||||||
|
"blue": 255,
|
||||||
|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Sidebar1": {
|
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|
"red": 255,
|
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|
"green": 0,
|
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"blue": 0,
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|
"alpha": 255
|
||||||
|
},
|
||||||
|
"Sidebar2": {
|
||||||
|
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|
"green": 255,
|
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|
"blue": 255,
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|
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|
},
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"Sidebar3": {
|
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|
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"green": 123,
|
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|
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|
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|
||||||
|
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|
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|
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|
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Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user