Difference between revisions of "SoftPanda"

From Tinkla: Tinkering with Tesla
(full path for sdv)
m (Reverted edits by BogGyver (talk) to last revision by F. John)
(Tag: Rollback)
 
(46 intermediate revisions by 5 users not shown)
Line 1: Line 1:
−
  To install and use the softPanda for IC/CID integration you have to have root access and mofiy important files on the IC and CID of your Tesla car. Please read carefully the whole document as well as the disclaimers. If you have questions or doubts, please reach out to our user group on the Comma.ai Tesla channel on Discord.
+
  DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.
  
−
DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.  
+
SoftPanda is a piece of software that makes the car's interfaces look and feel like OpenPilot shipped with the car.
−
=== Which source code branch is needed? ===
+
The IC integration runs the AutoPilot view, powered by OpenPilot. CID integration adds settings for OpenPilot in the car's menu.<br>
 +
Additionally, softPanda adds map based speed control as well as control over max speed offset.<br>
 +
'''To install and use the softPanda for IC/CID integration you have to have root access and modify important files on the IC and CID of your Tesla car. Please read carefully the whole document as well as the disclaimers. If you have questions or doubts, please reach out to our user group on the Comma.ai Tesla channel on Discord.'''
  
−
You will have to be on one of the branches in my [https://github.com/BogGyver/openpilot repo] that is based on OpenPilot 0.5.9 or above.
+
__TOC__
  
 +
Before Attempting Integreation with SoftPanda, have you considered trying [[Tinkla Buddy]]?
 +
[[file:T_Buddy.png|600px|center|link=Tinkla_Buddy]]
 +
Seriously, [[Tinkla Buddy]] is worth a shot.
  
 
=== Changes to OpenPilot Configuration File ===
 
=== Changes to OpenPilot Configuration File ===
  
 
The following options must be set to true in the [[OpenPilot Configuration File]] for the IC/CID integration to work:
 
The following options must be set to true in the [[OpenPilot Configuration File]] for the IC/CID integration to work:
 +
<source lang="bash">
 +
enable_das_emulation = True
 +
has_tesla_ic_integration = True
  
−
use_tesla_gps = True
+
# if this is false, the corresponding setting on CID will switch to on after every restart
−
use_tesla_map_data = True
+
use_tesla_map_data = True
−
has_tesla_ic_integration = True
+
</source>
−
# below is optional changes speedo from flying car to old non-ap gauge when EON is not connected; not implemented yet
 
−
use_analog_when_no_eon = True
 
  
 
=== Download softPanda Executable ===
 
=== Download softPanda Executable ===
  
−
Dwnload the [http://tinkla.us/files/softPanda softPanda] Executable and place it in '''/var/root/bin'''
+
Download the [https://tinkla.us/files/softPanda softPanda] executable to '''/var/root/bin''' on your CID with the following commands:
 +
<source lang="bash">
 +
cd /var/root/bin
 +
curl -O https://tinkla.us/files/softPanda
 +
</source>
  
 
=== Download Language Strings File ===
 
=== Download Language Strings File ===
Line 25: Line 35:
 
Find and download the QtCar_xx.qm specific to your language (for example English is '''en''') on both IC and CID and place it in '''/var/root/lang''' on both systems.
 
Find and download the QtCar_xx.qm specific to your language (for example English is '''en''') on both IC and CID and place it in '''/var/root/lang''' on both systems.
  
−
English - [http://tinkla.us/files/QtCar_en.qm QtCar_en.qm]
+
English - [https://tinkla.us/files/QtCar_en.qm QtCar_en.qm]<br>
 +
German - [https://tinkla.us/files/QtCar_de.qm QtCar_de.qm]<br>
 +
Spanish - [https://tinkla.us/files/QtCar_es.qm QtCar_es.qm]
  
−
German - [http://tinkla.us/files/QtCar_de.qm QtCar_de.qm]
+
To get the files you can do this '''on both IC and CID''' (change the file URL to the language your car displays)
 +
<source lang="bash">
 +
cd /var/root/lang
 +
curl -O https://tinkla.us/files/QtCar_en.qm
 +
</source>
 +
<source lang="bash">
 +
ssh ic
 +
cd /var/root/lang
 +
curl -O https://tinkla.us/files/QtCar_en.qm
 +
</source>
  
 
=== Changes on IC ===
 
=== Changes on IC ===
Line 33: Line 54:
 
  DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.  
 
  DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.  
  
−
Add the following 6 lines at the top of your '''/var/etc/tesla.env'''. The language file should match the language set on your car and the file you downloaded above.
+
Add the following 5 lines at the top of this '''[[Root:special file|special file]]''' on '''IC'''.<br>
−
 
+
Make sure both language file names match your car's language.
−
/bin/mount | /bin/grep -c /var/root/lang/QtCar >/dev/null || /bin/mount --bind /var/root/lang/QtCar_en.qm  
+
<source lang="bash">
−
/usr/tesla/UI/bin/QtCar_en.qm
+
/bin/mount | /bin/grep -c /var/root/lang/QtCar >/dev/null || /bin/mount --bind /var/root/lang/QtCar_en.qm /usr/tesla/UI/bin/QtCar_en.qm
−
QCPORT=":20201"
+
QCPORT=":20201"
−
export QCPORT
+
export QCPORT
−
QCHPPORT=":31515"
+
QCHPPORT=":31515"
−
export QCHPPORT
+
export QCHPPORT
 +
</source>
  
 
=== Changes on CID ===
 
=== Changes on CID ===
Line 46: Line 68:
 
  DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.  
 
  DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.  
  
−
Add the following 4 lines at the top of your '''/var/etc/tesla.env'''. The language file should match the language set on your car and the file you downloaded above.
+
CID integration (OpenPilot Menu) is currently only supported on '''2019.4.2''' and below.<br>
−
 
+
Add the following 4 lines at the top of this '''[[Root:special file|special file]]''' on '''CID'''.<br>
−
/bin/mount | /bin/grep -c /var/root/lang/QtCar >/dev/null || /bin/mount --bind /var/root/lang/QtCar_en.qm  
+
Make sure both language file names match your car's language.
−
/usr/tesla/UI/bin/QtCar_en.qm
+
<source lang="bash">
−
QCPORT=":20201"
+
/bin/mount | /bin/grep -c /var/root/lang/QtCar >/dev/null || /bin/mount --bind /var/root/lang/QtCar_en.qm /usr/tesla/UI/bin/QtCar_en.qm
−
export QCPORT
+
QCPORT=":20201"
 +
export QCPORT
 +
</source>
  
 
  NOTE: Do NOT declare QCHPPORT on CID!!!
 
  NOTE: Do NOT declare QCHPPORT on CID!!!
Line 57: Line 81:
 
=== Updating Maps ===
 
=== Updating Maps ===
  
−
==== Remove any old Map data: ====
+
If you have older version of maps on your CID, you might need to [[Root: update maps|update]] them.
−
If you have any of these files from the old Maps 3.x.x system in /opt/navigoff, delete them to free up space (otherwise rsync may run out of space). Leave other files / directories alone!.
 
−
5.5GB free space is required:
 
−
 
 
−
dr-xr-xr-x 4 nvidia fuse 4.0K Dec 19  2016 NA
 
−
dr-xr-xr-x 2 nvidia fuse  16K Dec 19  2016 lost+found
 
−
-r--r--r-- 1 nvidia fuse  17 Dec 19  2016 FILESYNC.VERSION
 
−
dr-xr-xr-x 2 nvidia fuse 4.0K Dec 19  2016 sound
 
−
 
 
−
==== Download Maps: ====
 
−
 
 
−
A high speed internet connection (wifi or LTE) is recommended, 3G will take a long time
 
−
 
 
−
sudo rsync -r -v --progress --partial --append-verify spam@maps-1620467086.us-west-2.elb.amazonaws.com:/var/data/maps/NA-180906-1605/ /opt/navigoff/
 
−
 
 
  
 
=== Startup Script ===
 
=== Startup Script ===
  
−
Place in '''/var/root/scripts/setupSoftPanda.sh''' and make executable
+
Use [[Root: startSoftPanda|'''/var/root/scripts/startSoftPanda.sh''']] script.
−
 
 
−
#!/bin/bash
 
−
# mount /var/root/run on tmpfs to not wear down the eMMC flash chip
 
−
 
−
SOFTPANDA_SOURCE=/var/root/bin
 
−
SOFTPANDA_RUN=/var/root/run
 
−
SOFTPANDA_ETC=/var/etc
 
−
SOFTPANDALOCK=softPanda.lock
 
−
SOFTPANDA=softPanda
 
−
SHOULDRUN=0
 
−
 
−
mkdir -p $SOFTPANDA_RUN
 
−
 
−
ISTMPFS=`/bin/mount | /bin/grep -c "$SOFTPANDA_RUN type tmpfs"`
 
−
 
−
#check if lock file exists
 
−
if [ ! -f $SOFTPANDA_ETC/$SOFTPANDALOCK ]; then
 
−
    # no file, we can run
 
−
    SHOULDRUN=1
 
−
else
 
−
    # we have file, check file age
 
−
    while ! test `find "$SOFTPANDA_ETC/$SOFTPANDALOCK" -mmin +10`
 
−
    do
 
−
      # file is old enough
 
−
      echo "File not old enough! Waiting;"
 
−
      sleep 60
 
−
    done
 
−
    SHOULDRUN=1
 
−
fi
 
−
 
−
if [ $ISTMPFS  -eq 0 ]; then
 
−
  /bin/mount -t tmpfs -o size=10M,mode=0755 tmpfs $SOFTPANDA_RUN
 
−
fi
 
−
 
−
if [ $SHOULDRUN -eq 1 ]
 
−
then
 
−
  touch $SOFTPANDA_ETC/$SOFTPANDALOCK
 
−
  echo "Set final GUI and DAS settings"
 
−
  sudo edit-settings-conf.pl -a vapi/forceHasAutopilot=true
 
−
  sudo edit-settings-conf.pl -a vapi/forceHasDriveOnNav=true
 
−
  sudo edit-settings-conf.pl -a vapi/forceHasDriveOnNavMaps=true
 
−
  /usr/local/bin/sdv GUI_autopilotAlwaysOn true
 
−
  /usr/local/bin/sdv GUI_autosteerOnRequest true
 
−
  /usr/local/bin/sdv GUI_autosteerDisabled false
 
−
  /usr/local/bin/sdv GUI_accFromZero true
 
−
  /usr/local/bin/sdv DAS_mapAvailability true
 
−
  /usr/local/bin/sdv GUI_redLightStopSignOnRequest true
 
−
  /usr/local/bin/sdv GUI_enableMapStops true
 
−
  /usr/local/bin/sdv GUI_enableVisionStops true
 
−
  /usr/local/bin/sdv GUI_enableFSDFunctions true
 
−
  /usr/local/bin/sdv GUI_stopAndGo true
 
−
  /usr/local/bin/sdv GUI_noaEverywhere true
 
−
  /usr/local/bin/sdv DAS_navAvailable true
 
−
  /usr/local/bin/sdv GUI_accFollowDistance 2
 
−
  /usr/local/bin/sdv GUI_accOvertakeOnRequest true
 
−
  /usr/local/bin/sdv GUI_autopilotControlRequest 0
 
−
  /usr/local/bin/sdv FEATURE_dasDriveOnNavEnabled true
 
−
  /usr/local/bin/sdv FEATURE_dasDriveOnNavMapsOkay true
 
−
  /usr/local/bin/sdv VAPI_backupCameraCalibrated true
 
−
  /usr/local/bin/sdv VAPI_fisheyeCameraCalibrated true
 
−
  /usr/local/bin/sdv VAPI_lPillarCameraCalibrated true
 
−
  /usr/local/bin/sdv VAPI_lRepeaterCameraCalibrated true
 
−
  /usr/local/bin/sdv VAPI_mainCameraCalibrated true
 
−
  /usr/local/bin/sdv VAPI_narrowCameraCalibrated true
 
−
  /usr/local/bin/sdv VAPI_rPillarCameraCalibrated true
 
−
  /usr/local/bin/sdv VAPI_rRepeaterCameraCalibrated true
 
−
 
−
  cp $SOFTPANDA_SOURCE/$SOFTPANDA $SOFTPANDA_RUN
 
−
  chmod 755 $SOFTPANDA_RUN/$SOFTPANDA
 
−
  /usr/local/bin/emit-reboot-cluster
 
−
  $SOFTPANDA_RUN/$SOFTPANDA -bridge 20201 -dasHw 1 -hBridge 31515 -includeParrot -includeLb -modifyDiState -forwardDebug -forwardUnique
 
−
fi
 
−
 
 
−
=== Changing the crontab ===
 
−
 
 
−
DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.
 
−
 
 
−
In order to start the script you need to modify your crontab. To make the script always-running:
 
−
 
 
−
sudo crontab -e
 
  
−
Then insert:
+
=== Changing the cron ===
  
−
@reboot /sbin/start-stop-daemon --start --quiet --make-pidfile --oknodo --background --pidfile /var/run/proxy.pid --exec /bin/bash /var/root/scripts/setupSoftPanda.sh
+
In order to start the script you need to modify your [[Root: crontab|cron]] and add the following 2 lines:
−
*/1 * * * * /sbin/start-stop-daemon --start --quiet --make-pidfile --oknodo --background --pidfile /var/run/proxy.pid --exec /bin/bash /var/root/scripts/setupSoftPanda.sh
+
<source lang="bash">
 +
@reboot /sbin/start-stop-daemon --start --quiet --make-pidfile --oknodo --background --pidfile /var/run/softPanda.pid --exec /bin/bash /var/root/scripts/startSoftPanda.sh
 +
*/1 * * * * /sbin/start-stop-daemon --start --quiet --make-pidfile --oknodo --background --pidfile /var/run/softPanda.pid --exec /bin/bash /var/root/scripts/startSoftPanda.sh
 +
</source>
  
 
=== A simple restart script ===
 
=== A simple restart script ===
  
−
The softPanda startup script creates a lock file and prevents two restarts in less than 10 minutes to allow you to still access your car computers in the event of a mistake. To manually restart the process you have to delete the lock file and then kill the softPanda process. Or just create a bash file with this content and run it.
+
The softPanda startup script creates a lock file and prevents two restarts in less than 10 minutes to allow you to still access your car computers in the event of a mistake. To manually restart the process you have to delete the lock file and then kill the softPanda process. Or just create a [[Root: restartSoftPanda|bash file]] with this content and run it.
−
 
 
−
PID=`ps -ef | grep softPanda | grep bridge | awk -F'[ ,]+' '{print $2}'`
 
−
if [ $PID -gt 0 ]
 
−
then
 
−
  rm /var/etc/softPanda.lock
 
−
  kill -9 $PID
 
−
fi
 
  
 
=== Optional Flags ===
 
=== Optional Flags ===
  
 
Here are the optional flags for softPanda EtherCan Proxy
 
Here are the optional flags for softPanda EtherCan Proxy
 +
 +
NOTE: If you are running Tesla software 2019.16 or later, you have to enable the '''-fix1916''' flag!
  
 
* -runOnIc: sets the spammer to run on IC instead of CID (CID default)
 
* -runOnIc: sets the spammer to run on IC instead of CID (CID default)
Line 193: Line 121:
 
* -forwardDebug: forward also the debug messages show in Developer Mode (OFF by default)
 
* -forwardDebug: forward also the debug messages show in Developer Mode (OFF by default)
 
* -forwardUnique: forward only unique CAN messages in each direction (OFF by default)
 
* -forwardUnique: forward only unique CAN messages in each direction (OFF by default)
 +
* -fix1916: fix DI_Status CAN change that started with 2019.16 (OFF by default)
 +
* -tpmsConti: Allows tire pressure display on Baloong TPMS system, DO NOT USE ON CONTI
  
 
=== Help, All Screens Are Black! ===
 
=== Help, All Screens Are Black! ===

Latest revision as of 19:41, 30 September 2020

DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.

SoftPanda is a piece of software that makes the car's interfaces look and feel like OpenPilot shipped with the car. The IC integration runs the AutoPilot view, powered by OpenPilot. CID integration adds settings for OpenPilot in the car's menu.
Additionally, softPanda adds map based speed control as well as control over max speed offset.
To install and use the softPanda for IC/CID integration you have to have root access and modify important files on the IC and CID of your Tesla car. Please read carefully the whole document as well as the disclaimers. If you have questions or doubts, please reach out to our user group on the Comma.ai Tesla channel on Discord. 

Before Attempting Integreation with SoftPanda, have you considered trying Tinkla Buddy?
T Buddy.png
Seriously, Tinkla Buddy is worth a shot.

Changes to OpenPilot Configuration File

The following options must be set to true in the OpenPilot Configuration File for the IC/CID integration to work: 

enable_das_emulation = True
has_tesla_ic_integration = True

# if this is false, the corresponding setting on CID will switch to on after every restart
use_tesla_map_data = True

Download softPanda Executable

Download the softPanda executable to /var/root/bin on your CID with the following commands: 

cd /var/root/bin
curl -O https://tinkla.us/files/softPanda

Download Language Strings File

Find and download the QtCar_xx.qm specific to your language (for example English is en) on both IC and CID and place it in /var/root/lang on both systems.

English - QtCar_en.qm
German - QtCar_de.qm
Spanish - QtCar_es.qm

To get the files you can do this on both IC and CID (change the file URL to the language your car displays) 

cd /var/root/lang 
curl -O https://tinkla.us/files/QtCar_en.qm

ssh ic
cd /var/root/lang 
curl -O https://tinkla.us/files/QtCar_en.qm

Changes on IC

DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.

Add the following 5 lines at the top of this special file on IC.
Make sure both language file names match your car's language. 

/bin/mount | /bin/grep -c /var/root/lang/QtCar >/dev/null || /bin/mount --bind /var/root/lang/QtCar_en.qm /usr/tesla/UI/bin/QtCar_en.qm
QCPORT=":20201"
export QCPORT
QCHPPORT=":31515"
export QCHPPORT

Changes on CID

DISCLAMER: Improper changes to IC or CID can result in the system (and thus your car) being rederend unusable. Potentially not even Tesla can revert some of the changes if done incorrectly. You are doing this at your own risk. You alone are ultimately responsible, not the creator of this site, Comma.ai, Comma.ai community, Tesla, or anyone else.

CID integration (OpenPilot Menu) is currently only supported on 2019.4.2 and below.
Add the following 4 lines at the top of this special file on CID.
Make sure both language file names match your car's language. 

/bin/mount | /bin/grep -c /var/root/lang/QtCar >/dev/null || /bin/mount --bind /var/root/lang/QtCar_en.qm /usr/tesla/UI/bin/QtCar_en.qm
QCPORT=":20201"
export QCPORT

NOTE: Do NOT declare QCHPPORT on CID!!!

Updating Maps

If you have older version of maps on your CID, you might need to update them.

Startup Script

Use /var/root/scripts/startSoftPanda.sh script.

Changing the cron

In order to start the script you need to modify your cron and add the following 2 lines: 

@reboot /sbin/start-stop-daemon --start --quiet --make-pidfile --oknodo --background --pidfile /var/run/softPanda.pid --exec /bin/bash /var/root/scripts/startSoftPanda.sh
*/1 * * * * /sbin/start-stop-daemon --start --quiet --make-pidfile --oknodo --background --pidfile /var/run/softPanda.pid --exec /bin/bash /var/root/scripts/startSoftPanda.sh

A simple restart script

The softPanda startup script creates a lock file and prevents two restarts in less than 10 minutes to allow you to still access your car computers in the event of a mistake. To manually restart the process you have to delete the lock file and then kill the softPanda process. Or just create a bash file with this content and run it.

Optional Flags

Here are the optional flags for softPanda EtherCan Proxy 

NOTE: If you are running Tesla software 2019.16 or later, you have to enable the -fix1916 flag!
  • -runOnIc: sets the spammer to run on IC instead of CID (CID default)
  • -triggerOnCan: start the spam only when receiving a certain CAN message from EON (OFF by default)
  • -autoRestartQtCarCluster: sends command to restart QtCarCluster when app starts (OFF by default)
  • -onlyCarConfig3: sends spam only for DasHw in GTW_carConfig3 (OFF by default)
  • -spamFrequency XX: spam frequency in Hz (100Hz by default)
  • -autopilot Y: autopilot mode (1:Highway, 2:Enhanced DEFAULT, 3:SelfDrive)
  • -bridge ZZZZZ: bridge mode where the packets received on 20101 are sent to port ZZZZZ (20102-27000)
  • -hBridge ZZZZZ: bridge mode where the packets received on 31415 are sent to port ZZZZZ (31515-32000)
  • -sendAfterReceive: sends modded message right after it is received (OFF by default)
  • -bindToPort WWWWW: Binds to a certain port and local IP address for sending (OFF by default)
  • -sendDiAccStatus: Send the DI_accStatus message; experimental for now (OFF by default)
  • -modifyDiState: Modifies the DI_state message for long control showing on IC (OFF by default)
  • -includeParrot: Include data from parrot to be sent through the bridge (OFF by default)
  • -includeLb: Include data from LB to be sent through the bridge (OFF by default)
  • -forwardDebug: forward also the debug messages show in Developer Mode (OFF by default)
  • -forwardUnique: forward only unique CAN messages in each direction (OFF by default)
  • -fix1916: fix DI_Status CAN change that started with 2019.16 (OFF by default)
  • -tpmsConti: Allows tire pressure display on Baloong TPMS system, DO NOT USE ON CONTI

Help, All Screens Are Black!

It’s not uncommon to see both IC and CID black the first time you start your car after enabling everything. This is caused by the CID not receiving messages from the gateway to wake up, which in turn is caused by softPanda having either not started or crashed. (Remember in the steps above we tell the CID to only listen to the gateway on the port softPanda proxies data to it on). The car will still drive with no screens, if you push the brake and wait 30 seconds for the gateway to give up trying to contact the screens.

Quickfix: Reboot the CID using the steering wheel (sometimes the speakers give a slight pop when the reboot command is executed). If everything is setup properly, the screens should come up. Steering wheel reboots are not preferred as they aren’t graceful restarts.

Preferred fix: ssh into the CID and restart softPanda, or troubleshoot what happened and then restart it.

Retrieved from "https://tinkla.us/index.php?title=SoftPanda&oldid=1128"