Dev (#17)

* app

* add

* add

* update and teest

* add service

* 1

selfdrive/app/commalisten.py

@@ -0,0 +1,536 @@
+#!/usr/bin/env python3
+import json
+import socket
+import sys
+import threading
+import time
+from datetime import datetime
+import argparse
+import traceback
+
+# 处理Windows环境
+try:
+    import curses
+except ImportError:
+    try:
+        # Windows平台上尝试导入windows-curses
+        import windows_curses as curses
+    except ImportError:
+        print("无法导入curses模块。在Windows上需要安装windows-curses包。")
+        print("请运行: pip install windows-curses")
+        sys.exit(1)
+
+class CommaListener:
+    def __init__(self, port=8088):
+        """初始化接收器"""
+        self.port = port
+        self.data = {}
+        self.last_update = 0
+        self.running = True
+        self.device_ip = None
+
+    def start_listening(self):
+        """启动UDP监听"""
+        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        try:
+            sock.bind(('0.0.0.0', self.port))
+            print(f"正在监听端口 {self.port} 的广播数据...")
+
+            while self.running:
+                try:
+                    data, addr = sock.recvfrom(4096)
+                    self.device_ip = addr[0]
+                    try:
+                        self.data = json.loads(data.decode('utf-8'))
+                        self.last_update = time.time()
+                    except json.JSONDecodeError:
+                        print(f"接收到无效的JSON数据: {data[:100]}...")
+                except Exception as e:
+                    print(f"接收数据时出错: {e}")
+        except Exception as e:
+            print(f"无法绑定到端口 {self.port}: {e}")
+        finally:
+            sock.close()
+
+class UI:
+    def __init__(self, listener):
+        """初始化UI"""
+        self.listener = listener
+        self.stdscr = None
+        self.running = True
+        self.current_page = 0
+        self.pages = ["车辆信息", "设备信息", "位置信息", "扩展车辆信息", "原始数据"]
+        self.max_pages = len(self.pages)
+
+        # 颜色配对
+        self.COLOR_NORMAL = 1
+        self.COLOR_HIGHLIGHT = 2
+        self.COLOR_STATUS_OK = 3
+        self.COLOR_STATUS_WARNING = 4
+        self.COLOR_STATUS_ERROR = 5
+        self.COLOR_HEADER = 6
+        self.COLOR_DATA = 7
+        self.COLOR_TITLE = 8
+
+        # 布局参数
+        self.max_height = 0
+        self.max_width = 0
+
+    def run(self):
+        """运行UI"""
+        curses.wrapper(self.main)
+
+    def main(self, stdscr):
+        """主UI循环"""
+        self.stdscr = stdscr
+        self.init_colors()
+
+        curses.curs_set(0)  # 隐藏光标
+        self.stdscr.timeout(100)  # 设置getch非阻塞超时
+
+        while self.running:
+            self.stdscr.clear()
+            self.max_height, self.max_width = self.stdscr.getmaxyx()
+
+            # 处理按键
+            self.handle_input()
+
+            # 绘制界面
+            self.draw_header()
+            self.draw_status()
+
+            # 根据当前页面绘制内容
+            if self.current_page == 0:
+                self.draw_car_info()
+            elif self.current_page == 1:
+                self.draw_device_info()
+            elif self.current_page == 2:
+                self.draw_location_info()
+            elif self.current_page == 3:
+                self.draw_extended_car_info()
+            elif self.current_page == 4:
+                self.draw_raw_data()
+
+            self.draw_footer()
+
+            self.stdscr.refresh()
+            time.sleep(0.1)
+
+    def init_colors(self):
+        """初始化颜色配对"""
+        curses.start_color()
+        curses.use_default_colors()
+        curses.init_pair(self.COLOR_NORMAL, curses.COLOR_WHITE, -1)
+        curses.init_pair(self.COLOR_HIGHLIGHT, curses.COLOR_BLACK, curses.COLOR_WHITE)
+        curses.init_pair(self.COLOR_STATUS_OK, curses.COLOR_GREEN, -1)
+        curses.init_pair(self.COLOR_STATUS_WARNING, curses.COLOR_YELLOW, -1)
+        curses.init_pair(self.COLOR_STATUS_ERROR, curses.COLOR_RED, -1)
+        curses.init_pair(self.COLOR_HEADER, curses.COLOR_CYAN, -1)
+        curses.init_pair(self.COLOR_DATA, curses.COLOR_GREEN, -1)
+        curses.init_pair(self.COLOR_TITLE, curses.COLOR_MAGENTA, -1)
+
+    def handle_input(self):
+        """处理按键"""
+        key = self.stdscr.getch()
+        if key == ord('q'):
+            self.running = False
+        elif key == ord('n') or key == curses.KEY_RIGHT:
+            self.current_page = (self.current_page + 1) % self.max_pages
+        elif key == ord('p') or key == curses.KEY_LEFT:
+            self.current_page = (self.current_page - 1) % self.max_pages
+
+    def draw_header(self):
+        """绘制顶部标题栏"""
+        title = "CommaAssist 数据监视器"
+        x = max(0, (self.max_width - len(title)) // 2)
+        self.stdscr.attron(curses.color_pair(self.COLOR_HEADER) | curses.A_BOLD)
+        self.safe_addstr(0, x, title)
+        self.stdscr.attroff(curses.color_pair(self.COLOR_HEADER) | curses.A_BOLD)
+
+        # 绘制页面标签
+        self.safe_addstr(1, 0, " " * (self.max_width - 1), curses.color_pair(self.COLOR_HIGHLIGHT))
+        x = 2
+        for i, page in enumerate(self.pages):
+            if i == self.current_page:
+                self.safe_addstr(1, x, f" {page} ", curses.color_pair(self.COLOR_HIGHLIGHT) | curses.A_BOLD)
+            else:
+                self.safe_addstr(1, x, f" {page} ", curses.color_pair(self.COLOR_NORMAL))
+            x += len(page) + 3
+
+    def draw_status(self):
+        """绘制状态栏"""
+        current_time = time.time()
+        status_line = 2
+
+        if not self.listener.data:
+            self.safe_addstr(status_line, 0, "等待数据...", curses.color_pair(self.COLOR_STATUS_WARNING))
+            return
+
+        time_diff = current_time - self.listener.last_update
+        if time_diff > 5:
+            self.safe_addstr(status_line, 0, f"数据已过期! 上次更新: {datetime.fromtimestamp(self.listener.last_update).strftime('%H:%M:%S')}",
+                           curses.color_pair(self.COLOR_STATUS_ERROR))
+        else:
+            self.safe_addstr(status_line, 0, f"已连接到 {self.listener.device_ip} - 最后更新: {datetime.fromtimestamp(self.listener.last_update).strftime('%H:%M:%S')}",
+                           curses.color_pair(self.COLOR_STATUS_OK))
+
+    def draw_footer(self):
+        """绘制底部控制栏"""
+        footer = "操作: [q]退出 [←/p]上一页 [→/n]下一页"
+        y = self.max_height - 1
+        x = max(0, (self.max_width - len(footer)) // 2)
+
+        # 防止超出屏幕边界
+        try:
+            # 修复：确保不超出屏幕边界
+            if y > 0 and self.max_width > 0:
+                # 使用safe_addstr方法避免边界问题
+                self.safe_addstr(y, 0, " " * (self.max_width - 1), curses.color_pair(self.COLOR_HIGHLIGHT))
+                self.safe_addstr(y, x, footer[:self.max_width - x - 1], curses.color_pair(self.COLOR_HIGHLIGHT))
+        except curses.error:
+            # 忽略curses边界错误
+            pass
+
+    def safe_addstr(self, y, x, text, attr=0):
+        """安全地添加字符串，避免边界问题"""
+        try:
+            # 确保y和x是有效坐标
+            height, width = self.stdscr.getmaxyx()
+            if y < 0 or y >= height or x < 0:
+                return
+
+            # 计算可以显示的最大长度
+            max_len = min(len(text), width - x - 1)
+            if max_len <= 0:
+                return
+
+            # 确保不会写入最后一个字符位置
+            self.stdscr.addstr(y, x, text[:max_len], attr)
+        except curses.error:
+            # 捕获并忽略curses错误
+            pass
+
+    def draw_car_info(self):
+        """绘制车辆信息"""
+        if not self.listener.data or 'car' not in self.listener.data:
+            self.draw_no_data("车辆数据不可用")
+            return
+
+        car = self.listener.data.get('car', {})
+
+        self.draw_section_title("基本车辆信息", 4)
+
+        # 速度和档位
+        data = [
+            ("当前速度", f"{car.get('speed', 0):.1f} km/h"),
+            ("巡航速度", f"{car.get('cruise_speed', 0):.1f} km/h"),
+            ("档位", car.get('gear_shifter', 'Unknown')),
+            ("车门状态", "打开" if car.get('door_open', False) else "关闭"),
+        ]
+        self.draw_data_section(data, 5, 0, self.max_width // 2)
+
+        # 方向盘和踏板
+        data = [
+            ("方向盘角度", f"{car.get('steering_angle', 0):.1f}°"),
+            ("转向力矩", f"{car.get('steering_torque', 0):.1f} Nm"),
+            ("制动踏板", "已踩下" if car.get('brake_pressed', False) else "释放"),
+            ("油门踏板", "已踩下" if car.get('gas_pressed', False) else "释放"),
+        ]
+        self.draw_data_section(data, 5, self.max_width // 2, self.max_width // 2)
+
+        # 转向灯状态
+        self.draw_section_title("信号灯状态", 10)
+        left_blinker = car.get('left_blinker', False)
+        right_blinker = car.get('right_blinker', False)
+
+        blinker_status = "无"
+        if left_blinker and right_blinker:
+            blinker_status = "双闪"
+        elif left_blinker:
+            blinker_status = "左转"
+        elif right_blinker:
+            blinker_status = "右转"
+
+        self.safe_addstr(11, 2, f"转向灯: {blinker_status}", curses.color_pair(self.COLOR_DATA))
+
+    def draw_device_info(self):
+        """绘制设备信息"""
+        if not self.listener.data or 'device' not in self.listener.data:
+            self.draw_no_data("设备数据不可用")
+            return
+
+        device = self.listener.data.get('device', {})
+
+        self.draw_section_title("设备状态", 4)
+
+        # 设备基本信息
+        data = [
+            ("IP地址", device.get('ip', 'Unknown')),
+            ("内存使用", f"{device.get('mem_usage', 0):.1f}%"),
+            ("CPU温度", f"{device.get('cpu_temp', 0):.1f}°C"),
+            ("可用空间", f"{device.get('free_space', 0):.1f}%"),
+        ]
+        self.draw_data_section(data, 5, 0, self.max_width // 2)
+
+        # 电池信息
+        battery = device.get('battery', {})
+        data = [
+            ("电池电量", f"{battery.get('percent', 0)}%"),
+            ("电池电压", f"{battery.get('voltage', 0):.2f}V"),
+            ("电池电流", f"{battery.get('status', 0):.2f}A"),
+            ("充电状态", "充电中" if not battery.get('charging', False) else "未充电"),
+        ]
+        self.draw_data_section(data, 5, self.max_width // 2, self.max_width // 2)
+
+    def draw_location_info(self):
+        """绘制位置信息"""
+        if not self.listener.data or 'location' not in self.listener.data:
+            self.draw_no_data("位置数据不可用")
+            return
+
+        location = self.listener.data.get('location', {})
+
+        if not location.get('gps_valid', False):
+            self.draw_section_title("GPS状态", 4)
+            self.safe_addstr(5, 2, "GPS信号无效或未获取", curses.color_pair(self.COLOR_STATUS_ERROR))
+            return
+
+        self.draw_section_title("GPS位置", 4)
+
+        # GPS基本信息
+        data = [
+            ("纬度", f"{location.get('latitude', 0):.6f}"),
+            ("经度", f"{location.get('longitude', 0):.6f}"),
+            ("海拔", f"{location.get('altitude', 0):.1f}m"),
+            ("GPS精度", f"{location.get('accuracy', 0):.1f}m"),
+        ]
+        self.draw_data_section(data, 5, 0, self.max_width // 2)
+
+        # 运动信息
+        data = [
+            ("方向", f"{location.get('bearing', 0):.1f}°"),
+            ("GPS速度", f"{location.get('speed', 0):.1f}km/h"),
+        ]
+        self.draw_data_section(data, 5, self.max_width // 2, self.max_width // 2)
+
+        # 导航信息
+        if 'navigation' in self.listener.data:
+            nav = self.listener.data.get('navigation', {})
+
+            self.draw_section_title("导航信息", 10)
+
+            # 格式化距离
+            dist = nav.get('distance_remaining', 0)
+            if dist > 1000:
+                dist_str = f"{dist/1000:.1f}km"
+            else:
+                dist_str = f"{dist:.0f}m"
+
+            # 格式化时间
+            time_sec = nav.get('time_remaining', 0)
+            minutes = int(time_sec // 60)
+            seconds = int(time_sec % 60)
+            time_str = f"{minutes}分{seconds}秒"
+
+            data = [
+                ("剩余距离", dist_str),
+                ("剩余时间", time_str),
+                ("道路限速", f"{nav.get('speed_limit', 0):.1f}km/h"),
+            ]
+            self.draw_data_section(data, 11, 0, self.max_width // 2)
+
+            if nav.get('maneuver_distance', 0) > 0:
+                data = [
+                    ("下一动作", nav.get('maneuver_text', '')),
+                    ("动作距离", f"{nav.get('maneuver_distance', 0)}m"),
+                ]
+                self.draw_data_section(data, 11, self.max_width // 2, self.max_width // 2)
+
+    def draw_extended_car_info(self):
+        """绘制扩展车辆信息"""
+        if not self.listener.data or 'car_info' not in self.listener.data:
+            self.draw_no_data("扩展车辆数据不可用")
+            return
+
+        car_info = self.listener.data.get('car_info', {})
+
+        # 绘制基本信息
+        if 'basic' in car_info:
+            basic = car_info.get('basic', {})
+            self.draw_section_title("车辆基本信息", 4)
+
+            data = [
+                ("车型", basic.get('car_model', 'Unknown')),
+                ("车辆指纹", basic.get('fingerprint', 'Unknown')),
+                ("重量", basic.get('weight', 'Unknown')),
+                ("轴距", basic.get('wheelbase', 'Unknown')),
+                ("转向比", basic.get('steering_ratio', 'Unknown')),
+            ]
+            self.draw_data_section(data, 5, 0, self.max_width)
+
+        # 绘制详细车辆信息
+        if 'details' not in car_info:
+            return
+
+        details = car_info.get('details', {})
+        row = 10
+
+        # 巡航控制信息
+        if 'cruise' in details:
+            cruise = details.get('cruise', {})
+            self.draw_section_title("巡航控制", row)
+            row += 1
+
+            data = [
+                ("巡航状态", "开启" if cruise.get('enabled', False) else "关闭"),
+                ("自适应巡航", "可用" if cruise.get('available', False) else "不可用"),
+                ("设定速度", f"{cruise.get('speed', 0):.1f}km/h"),
+            ]
+
+            if 'gap' in cruise:
+                data.append(("跟车距离", str(cruise.get('gap', 0))))
+
+            self.draw_data_section(data, row, 0, self.max_width)
+            row += len(data) + 1
+
+        # 车轮速度
+        if 'wheel_speeds' in details:
+            ws = details.get('wheel_speeds', {})
+            self.draw_section_title("车轮速度", row)
+            row += 1
+
+            data = [
+                ("左前", f"{ws.get('fl', 0):.1f}km/h"),
+                ("右前", f"{ws.get('fr', 0):.1f}km/h"),
+                ("左后", f"{ws.get('rl', 0):.1f}km/h"),
+                ("右后", f"{ws.get('rr', 0):.1f}km/h"),
+            ]
+            self.draw_data_section(data, row, 0, self.max_width // 2)
+            row += len(data) + 1
+
+        # 安全系统
+        if 'safety_systems' in details and details['safety_systems']:
+            ss = details.get('safety_systems', {})
+            self.draw_section_title("安全系统", row)
+            row += 1
+
+            data = []
+            if 'esp_disabled' in ss:
+                data.append(("ESP状态", "禁用" if ss.get('esp_disabled', False) else "正常"))
+            if 'abs_active' in ss:
+                data.append(("ABS状态", "激活" if ss.get('abs_active', False) else "正常"))
+            if 'tcs_active' in ss:
+                data.append(("牵引力控制", "激活" if ss.get('tcs_active', False) else "正常"))
+            if 'collision_warning' in ss:
+                data.append(("碰撞警告", "警告" if ss.get('collision_warning', False) else "正常"))
+
+            if data:
+                self.draw_data_section(data, row, 0, self.max_width // 2)
+                row += len(data) + 1
+
+        # 盲点检测
+        if 'blind_spot' in details and details['blind_spot']:
+            bs = details.get('blind_spot', {})
+            self.draw_section_title("盲点监测", row)
+            row += 1
+
+            data = []
+            if 'left' in bs:
+                data.append(("左侧", "检测到车辆" if bs.get('left', False) else "无车辆"))
+            if 'right' in bs:
+                data.append(("右侧", "检测到车辆" if bs.get('right', False) else "无车辆"))
+
+            if data:
+                self.draw_data_section(data, row, 0, self.max_width // 2)
+                row += len(data) + 1
+
+        # 其他信息
+        if 'other' in details and details['other']:
+            other = details.get('other', {})
+            self.draw_section_title("其他信息", row)
+            row += 1
+
+            data = []
+            if 'outside_temp' in other:
+                data.append(("车外温度", f"{other.get('outside_temp', 0):.1f}°C"))
+            if 'fuel_range' in other:
+                data.append(("续航里程", f"{other.get('fuel_range', 0):.1f}km"))
+            if 'odometer' in other:
+                data.append(("里程表", f"{other.get('odometer', 0):.1f}km"))
+            if 'fuel_consumption' in other:
+                data.append(("油耗", f"{other.get('fuel_consumption', 0):.1f}L/100km"))
+
+            if data:
+                self.draw_data_section(data, row, 0, self.max_width // 2)
+
+    def draw_raw_data(self):
+        """绘制原始数据"""
+        if not self.listener.data:
+            self.draw_no_data("没有数据")
+            return
+
+        self.draw_section_title("原始JSON数据", 4)
+
+        try:
+            json_str = json.dumps(self.listener.data, indent=2)
+            lines = json_str.split('\n')
+
+            for i, line in enumerate(lines):
+                if 4 + i + 1 >= self.max_height - 1:  # 保留底部状态栏
+                    self.safe_addstr(4 + i, 0, "... (内容过多无法完全显示)", curses.color_pair(self.COLOR_STATUS_WARNING))
+                    break
+                if len(line) > self.max_width:
+                    line = line[:self.max_width - 3] + "..."
+                self.safe_addstr(4 + i + 1, 0, line)
+        except Exception as e:
+            self.safe_addstr(5, 0, f"无法显示JSON数据: {e}", curses.color_pair(self.COLOR_STATUS_ERROR))
+
+    def draw_no_data(self, message):
+        """绘制无数据消息"""
+        y = self.max_height // 2
+        x = max(0, (self.max_width - len(message)) // 2)
+        self.safe_addstr(y, x, message, curses.color_pair(self.COLOR_STATUS_WARNING))
+
+    def draw_section_title(self, title, row):
+        """绘制区域标题"""
+        self.safe_addstr(row, 0, title, curses.color_pair(self.COLOR_TITLE) | curses.A_BOLD)
+
+    def draw_data_section(self, data_list, start_row, start_col, width):
+        """绘制数据区域"""
+        for i, (label, value) in enumerate(data_list):
+            row = start_row + i
+
+            if row >= self.max_height - 1:  # 避免超出屏幕底部
+                break
+
+            self.safe_addstr(row, start_col + 2, f"{label}: ", curses.color_pair(self.COLOR_NORMAL))
+            try:
+                self.stdscr.addstr(value, curses.color_pair(self.COLOR_DATA))
+            except curses.error:
+                pass
+
+def main():
+    """主函数"""
+    parser = argparse.ArgumentParser(description='CommaAssist 终端监控器')
+    parser.add_argument('-p', '--port', type=int, default=8088, help='监听端口(默认: 8088)')
+    args = parser.parse_args()
+
+    # 创建并启动监听器
+    listener = CommaListener(port=args.port)
+    listener_thread = threading.Thread(target=listener.start_listening)
+    listener_thread.daemon = True
+    listener_thread.start()
+
+    # 创建并运行UI
+    ui = UI(listener)
+    try:
+        ui.run()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        listener.running = False
+        print("正在退出...")
+
+if __name__ == "__main__":
+    main()

selfdrive/app/commassit.py

@@ -0,0 +1,498 @@
+#!/usr/bin/env python3
+import fcntl
+import json
+import math
+import os
+import socket
+import struct
+import threading
+import time
+import traceback
+import zmq
+from datetime import datetime
+
+import cereal.messaging as messaging
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.params import Params
+from openpilot.system.hardware import PC, TICI
+try:
+  from selfdrive.car.car_helpers import interfaces
+  HAS_CAR_INTERFACES = True
+except ImportError:
+  HAS_CAR_INTERFACES = False
+  interfaces = None
+
+class CommaAssist:
+  def __init__(self):
+    print("初始化 CommaAssist 服务...")
+    # 初始化参数
+    self.params = Params()
+
+    # 订阅需要的数据源
+    self.sm = messaging.SubMaster(['deviceState', 'carState', 'controlsState',
+                                   'longitudinalPlan', 'liveLocationKalman',
+                                   'navInstruction', 'modelV2'])
+
+    # 网络相关配置
+    self.broadcast_ip = self.get_broadcast_address()
+    if self.broadcast_ip is None:
+      self.broadcast_ip = "255.255.255.255"  # 使用通用广播地址作为备选
+    self.broadcast_port = 8088
+    self.ip_address = "0.0.0.0"
+    self.is_running = True
+
+    # 获取车辆信息
+    self.car_info = {}
+    self.load_car_info()
+
+    # 启动广播线程
+    threading.Thread(target=self.broadcast_data).start()
+
+  def load_car_info(self):
+    """加载车辆基本信息"""
+    try:
+      # 获取车辆型号信息
+      try:
+        car_model = self.params.get("CarModel", encoding='utf8')
+        self.car_info["car_name"] = car_model if car_model else "Unknown"
+      except Exception as e:
+        print(f"无法获取CarModel参数: {e}")
+        try:
+          # 尝试获取其他可能的车辆参数
+          car_params = self.params.get("CarParamsCache", encoding='utf8')
+          self.car_info["car_name"] = "通过CarParamsCache获取" if car_params else "Unknown"
+        except Exception:
+          self.car_info["car_name"] = "Unknown Model"
+          car_model = None
+
+      # 检查车辆接口是否可用
+      if not HAS_CAR_INTERFACES:
+        print("车辆接口模块不可用")
+      elif not car_model:
+        print("无有效的车型信息")
+      elif not isinstance(interfaces, list):
+        print("车辆接口不是列表类型，尝试转换...")
+        # 尝试获取车辆接口的具体实现
+        if hasattr(interfaces, '__call__'):
+          # 如果interfaces是一个函数，尝试直接获取车辆指纹
+          try:
+            self.car_info["car_fingerprint"] = f"直接从车型{car_model}获取"
+            print(f"直接从车型识别: {car_model}")
+          except Exception as e:
+            print(f"无法从车型直接获取指纹: {e}")
+      else:
+        # 正常遍历接口列表
+        print("尝试从车辆接口中获取指纹信息...")
+        for interface in interfaces:
+          if not hasattr(interface, 'CHECKSUM'):
+            continue
+
+          try:
+            if isinstance(interface.CHECKSUM, dict) and 'pt' in interface.CHECKSUM:
+              if car_model in interface.CHECKSUM["pt"]:
+                platform = interface
+                self.car_info["car_fingerprint"] = platform.config.platform_str
+
+                # 获取车辆规格参数
+                specs = platform.config.specs
+                if specs:
+                  if hasattr(specs, 'mass'):
+                    self.car_info["mass"] = specs.mass
+                  if hasattr(specs, 'wheelbase'):
+                    self.car_info["wheelbase"] = specs.wheelbase
+                  if hasattr(specs, 'steerRatio'):
+                    self.car_info["steerRatio"] = specs.steerRatio
+                break
+          except Exception as e:
+            print(f"处理特定车辆接口异常: {e}")
+
+    except Exception as e:
+      print(f"加载车辆信息失败: {e}")
+      traceback.print_exc()
+
+    # 确保基本字段存在，避免后续访问出错
+    if "car_name" not in self.car_info:
+      self.car_info["car_name"] = "Unknown Model"
+    if "car_fingerprint" not in self.car_info:
+      self.car_info["car_fingerprint"] = "Unknown Fingerprint"
+
+    print(f"车辆信息加载完成: {self.car_info}")
+
+  def get_broadcast_address(self):
+    """获取广播地址"""
+    try:
+      if PC:
+        iface = b'br0'
+      else:
+        iface = b'wlan0'
+
+      with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as s:
+        ip = fcntl.ioctl(
+          s.fileno(),
+          0x8919,  # SIOCGIFADDR
+          struct.pack('256s', iface)
+        )[20:24]
+        ip_str = socket.inet_ntoa(ip)
+        print(f"获取到IP地址: {ip_str}")
+        # 从IP地址构造广播地址
+        ip_parts = ip_str.split('.')
+        return f"{ip_parts[0]}.{ip_parts[1]}.{ip_parts[2]}.255"
+    except (OSError, Exception) as e:
+      print(f"获取广播地址失败: {e}")
+      return None
+
+  def get_local_ip(self):
+    """获取本地IP地址"""
+    try:
+      with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as s:
+        s.connect(("8.8.8.8", 80))
+        return s.getsockname()[0]
+    except Exception as e:
+      print(f"获取本地IP失败: {e}")
+      return "127.0.0.1"
+
+  def make_data_message(self):
+    """构建广播消息内容"""
+    # 基本消息结构
+    message = {
+      "timestamp": int(time.time()),
+      "device": {
+        "ip": self.ip_address,
+        "battery": {},
+        "mem_usage": 0,
+        "cpu_temp": 0,
+        "free_space": 0
+      },
+      "car": {
+        "speed": 0,
+        "cruise_speed": 0,
+        "gear_shifter": "unknown",
+        "steering_angle": 0,
+        "steering_torque": 0,
+        "brake_pressed": False,
+        "gas_pressed": False,
+        "door_open": False,
+        "left_blinker": False,
+        "right_blinker": False
+      },
+      "location": {
+        "latitude": 0,
+        "longitude": 0,
+        "bearing": 0,
+        "speed": 0,
+        "altitude": 0,
+        "accuracy": 0,
+        "gps_valid": False
+      },
+      "car_info": {
+        "basic": {
+          "car_model": self.car_info.get("car_name", "Unknown"),
+          "fingerprint": self.car_info.get("car_fingerprint", "Unknown"),
+          "weight": f"{self.car_info.get('mass', 0):.0f} kg" if 'mass' in self.car_info else "Unknown",
+          "wheelbase": f"{self.car_info.get('wheelbase', 0):.3f} m" if 'wheelbase' in self.car_info else "Unknown",
+          "steering_ratio": f"{self.car_info.get('steerRatio', 0):.1f}" if 'steerRatio' in self.car_info else "Unknown"
+        }
+      }
+    }
+
+    # 安全地获取设备信息
+    try:
+      if self.sm.updated['deviceState'] and self.sm.valid['deviceState']:
+        device_state = self.sm['deviceState']
+
+        # 获取设备信息 - 使用getattr安全地访问属性
+        message["device"]["mem_usage"] = getattr(device_state, 'memoryUsagePercent', 0)
+        message["device"]["free_space"] = getattr(device_state, 'freeSpacePercent', 0)
+
+        # CPU温度
+        cpu_temps = getattr(device_state, 'cpuTempC', [])
+        if isinstance(cpu_temps, list) and len(cpu_temps) > 0:
+          message["device"]["cpu_temp"] = cpu_temps[0]
+
+        # 电池信息
+        try:  # 额外的错误处理，因为这是常见错误点
+          message["device"]["battery"]["percent"] = getattr(device_state, 'batteryPercent', 0)
+          message["device"]["battery"]["status"] = getattr(device_state, 'batteryCurrent', 0)
+          message["device"]["battery"]["voltage"] = getattr(device_state, 'batteryVoltage', 0)
+          message["device"]["battery"]["charging"] = getattr(device_state, 'chargingError', False)
+        except Exception as e:
+          print(f"获取电池信息失败: {e}")
+    except Exception as e:
+      print(f"获取设备状态出错: {e}")
+
+    # 安全地获取车辆信息
+    try:
+      if self.sm.updated['carState'] and self.sm.valid['carState']:
+        CS = self.sm['carState']
+
+        # 基本车辆信息
+        message["car"]["speed"] = getattr(CS, 'vEgo', 0) * 3.6  # m/s转km/h
+        message["car"]["gear_shifter"] = str(getattr(CS, 'gearShifter', "unknown"))
+        message["car"]["steering_angle"] = getattr(CS, 'steeringAngleDeg', 0)
+        message["car"]["steering_torque"] = getattr(CS, 'steeringTorque', 0)
+        message["car"]["brake_pressed"] = getattr(CS, 'brakePressed', False)
+        message["car"]["gas_pressed"] = getattr(CS, 'gasPressed', False)
+        message["car"]["door_open"] = getattr(CS, 'doorOpen', False)
+        message["car"]["left_blinker"] = getattr(CS, 'leftBlinker', False)
+        message["car"]["right_blinker"] = getattr(CS, 'rightBlinker', False)
+
+        # 扩展的车辆状态信息
+        is_car_started = getattr(CS, 'vEgo', 0) > 0.1
+        is_car_engaged = False
+
+        # 详细车辆信息
+        car_details = {}
+
+        # 车辆状态
+        status = {
+          "running_status": "Moving" if is_car_started else "Stopped",
+          "door_open": getattr(CS, 'doorOpen', False),
+          "seatbelt_unlatched": getattr(CS, 'seatbeltUnlatched', False),
+        }
+
+        # 引擎信息
+        engine_info = {}
+        if hasattr(CS, 'engineRpm') and CS.engineRpm > 0:
+          engine_info["rpm"] = f"{CS.engineRpm:.0f}"
+        car_details["engine"] = engine_info
+
+        # 巡航控制
+        cruise_info = {}
+        if hasattr(CS, 'cruiseState'):
+          is_car_engaged = getattr(CS.cruiseState, 'enabled', False)
+          cruise_info["enabled"] = getattr(CS.cruiseState, 'enabled', False)
+          cruise_info["available"] = getattr(CS.cruiseState, 'available', False)
+          cruise_info["speed"] = getattr(CS.cruiseState, 'speed', 0) * 3.6
+
+          if hasattr(CS, 'pcmCruiseGap'):
+            cruise_info["gap"] = CS.pcmCruiseGap
+
+        status["cruise_engaged"] = is_car_engaged
+        car_details["cruise"] = cruise_info
+
+        # 车轮速度
+        wheel_speeds = {}
+        if hasattr(CS, 'wheelSpeeds'):
+          ws = CS.wheelSpeeds
+          wheel_speeds["fl"] = getattr(ws, 'fl', 0) * 3.6
+          wheel_speeds["fr"] = getattr(ws, 'fr', 0) * 3.6
+          wheel_speeds["rl"] = getattr(ws, 'rl', 0) * 3.6
+          wheel_speeds["rr"] = getattr(ws, 'rr', 0) * 3.6
+        car_details["wheel_speeds"] = wheel_speeds
+
+        # 方向盘信息
+        steering = {
+          "angle": getattr(CS, 'steeringAngleDeg', 0),
+          "torque": getattr(CS, 'steeringTorque', 0),
+        }
+        if hasattr(CS, 'steeringRateDeg'):
+          steering["rate"] = CS.steeringRateDeg
+        car_details["steering"] = steering
+
+        # 踏板状态
+        pedals = {
+          "gas_pressed": getattr(CS, 'gasPressed', False),
+          "brake_pressed": getattr(CS, 'brakePressed', False),
+        }
+        if hasattr(CS, 'gas'):
+          pedals["throttle_position"] = CS.gas * 100
+        if hasattr(CS, 'brake'):
+          pedals["brake_pressure"] = CS.brake * 100
+        car_details["pedals"] = pedals
+
+        # 安全系统
+        safety_systems = {}
+        if hasattr(CS, 'espDisabled'):
+          safety_systems["esp_disabled"] = CS.espDisabled
+        if hasattr(CS, 'absActive'):
+          safety_systems["abs_active"] = CS.absActive
+        if hasattr(CS, 'tcsActive'):
+          safety_systems["tcs_active"] = CS.tcsActive
+        if hasattr(CS, 'collisionWarning'):
+          safety_systems["collision_warning"] = CS.collisionWarning
+        car_details["safety_systems"] = safety_systems
+
+        # 车门状态
+        doors = {
+          "driver": getattr(CS, 'doorOpen', False)
+        }
+        if hasattr(CS, 'passengerDoorOpen'):
+          doors["passenger"] = CS.passengerDoorOpen
+        if hasattr(CS, 'trunkOpen'):
+          doors["trunk"] = CS.trunkOpen
+        if hasattr(CS, 'hoodOpen'):
+          doors["hood"] = CS.hoodOpen
+        car_details["doors"] = doors
+
+        # 灯光状态
+        lights = {
+          "left_blinker": getattr(CS, 'leftBlinker', False),
+          "right_blinker": getattr(CS, 'rightBlinker', False),
+        }
+        if hasattr(CS, 'genericToggle'):
+          lights["high_beam"] = CS.genericToggle
+        if hasattr(CS, 'lowBeamOn'):
+          lights["low_beam"] = CS.lowBeamOn
+        car_details["lights"] = lights
+
+        # 盲点监测
+        blind_spot = {}
+        if hasattr(CS, 'leftBlindspot'):
+          blind_spot["left"] = CS.leftBlindspot
+        if hasattr(CS, 'rightBlindspot'):
+          blind_spot["right"] = CS.rightBlindspot
+        if blind_spot:
+          car_details["blind_spot"] = blind_spot
+
+        # 其他可选信息
+        other_info = {}
+        if hasattr(CS, 'outsideTemp'):
+          other_info["outside_temp"] = CS.outsideTemp
+        if hasattr(CS, 'fuelGauge'):
+          other_info["fuel_range"] = CS.fuelGauge
+        if hasattr(CS, 'odometer'):
+          other_info["odometer"] = CS.odometer
+        if hasattr(CS, 'instantFuelConsumption'):
+          other_info["fuel_consumption"] = CS.instantFuelConsumption
+        if other_info:
+          car_details["other"] = other_info
+
+        # 更新状态和详细信息
+        message["car_info"]["status"] = status
+        message["car_info"]["details"] = car_details
+
+      if self.sm.updated['controlsState'] and self.sm.valid['controlsState']:
+        controls_state = self.sm['controlsState']
+        message["car"]["cruise_speed"] = getattr(controls_state, 'vCruise', 0)
+
+        # 额外的控制状态信息
+        controls_info = {}
+        if hasattr(controls_state, 'enabled'):
+          controls_info["enabled"] = controls_state.enabled
+        if hasattr(controls_state, 'active'):
+          controls_info["active"] = controls_state.active
+        if hasattr(controls_state, 'alertText1'):
+          controls_info["alert_text"] = controls_state.alertText1
+        if controls_info:
+          message["car_info"]["controls"] = controls_info
+
+    except Exception as e:
+      print(f"获取车辆信息出错: {e}")
+      traceback.print_exc()
+
+    # 安全地获取GPS位置信息
+    try:
+      if self.sm.updated['liveLocationKalman'] and self.sm.valid['liveLocationKalman']:
+        location = self.sm['liveLocationKalman']
+
+        # 检查GPS是否有效
+        location_status = getattr(location, 'status', -1)
+        position_valid = False
+        if hasattr(location, 'positionGeodetic'):
+          position_valid = getattr(location.positionGeodetic, 'valid', False)
+
+        gps_valid = (location_status == 0) and position_valid
+        message["location"]["gps_valid"] = gps_valid
+
+        if gps_valid and hasattr(location, 'positionGeodetic') and hasattr(location.positionGeodetic, 'value'):
+          # 获取位置信息
+          pos_value = location.positionGeodetic.value
+          if len(pos_value) >= 3:
+            message["location"]["latitude"] = pos_value[0]
+            message["location"]["longitude"] = pos_value[1]
+            message["location"]["altitude"] = pos_value[2]
+
+          # 获取精度信息
+          if hasattr(location, 'positionGeodeticStd') and hasattr(location.positionGeodeticStd, 'value'):
+            std_value = location.positionGeodeticStd.value
+            if len(std_value) > 0:
+              message["location"]["accuracy"] = std_value[0]
+
+          # 获取方向信息
+          if hasattr(location, 'calibratedOrientationNED') and hasattr(location.calibratedOrientationNED, 'value'):
+            orientation = location.calibratedOrientationNED.value
+            if len(orientation) > 2:
+              message["location"]["bearing"] = math.degrees(orientation[2])
+
+          # 设置速度信息
+          car_state = self.sm['carState'] if self.sm.valid['carState'] else None
+          if car_state and hasattr(car_state, 'vEgo'):
+            message["location"]["speed"] = car_state.vEgo * 3.6
+    except Exception as e:
+      print(f"获取位置信息出错: {e}")
+
+    # 如果有导航指令，添加导航信息
+    try:
+      if self.sm.valid['navInstruction']:
+        nav_instruction = self.sm['navInstruction']
+
+        nav_info = {}
+        nav_info["distance_remaining"] = getattr(nav_instruction, 'distanceRemaining', 0)
+        nav_info["time_remaining"] = getattr(nav_instruction, 'timeRemaining', 0)
+        nav_info["speed_limit"] = getattr(nav_instruction, 'speedLimit', 0) * 3.6
+        nav_info["maneuver_distance"] = getattr(nav_instruction, 'maneuverDistance', 0)
+        nav_info["maneuver_type"] = getattr(nav_instruction, 'maneuverType', "")
+        nav_info["maneuver_modifier"] = getattr(nav_instruction, 'maneuverModifier', "")
+        nav_info["maneuver_text"] = getattr(nav_instruction, 'maneuverPrimaryText', "")
+
+        message["navigation"] = nav_info
+    except Exception as e:
+      print(f"获取导航信息出错: {e}")
+
+    try:
+      return json.dumps(message)
+    except Exception as e:
+      print(f"序列化消息出错: {e}")
+      return "{}"
+
+  def broadcast_data(self):
+    """定期发送数据到广播地址"""
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+    rk = Ratekeeper(10, print_delay_threshold=None)  # 10Hz广播频率
+
+    print(f"开始广播数据到 {self.broadcast_ip}:{self.broadcast_port}")
+
+    while self.is_running:
+      try:
+        # 更新数据
+        self.sm.update(0)
+
+        # 更新IP地址
+        ip_address = self.get_local_ip()
+        if ip_address != self.ip_address:
+          self.ip_address = ip_address
+          print(f"IP地址已更新: {ip_address}")
+
+        # 构建并发送消息
+        msg = self.make_data_message()
+        dat = msg.encode('utf-8')
+        sock.sendto(dat, (self.broadcast_ip, self.broadcast_port))
+
+        # 减少日志输出频率
+        if rk.frame % 50 == 0:  # 每5秒打印一次日志
+          print(f"广播数据: {self.broadcast_ip}:{self.broadcast_port}")
+
+        rk.keep_time()
+      except Exception as e:
+        print(f"广播数据错误: {e}")
+        traceback.print_exc()
+        time.sleep(1)
+
+def main(gctx=None):
+  """主函数
+  支持作为独立程序运行或由process_config启动
+  gctx参数用于与openpilot进程管理系统兼容
+  """
+  comma_assist = CommaAssist()
+
+  # 保持主线程运行
+  try:
+    while True:
+      time.sleep(10)  # 主线程休眠
+  except KeyboardInterrupt:
+    comma_assist.is_running = False
+    print("CommaAssist服务已停止")
+
+if __name__ == "__main__":
+  main()

selfdrive/app/commawebview.py

@@ -0,0 +1,858 @@
+#!/usr/bin/env python3
+import json
+import socket
+import threading
+import time
+import traceback
+from datetime import datetime
+import argparse
+from flask import Flask, render_template_string, jsonify, render_template
+
+class CommaWebListener:
+    def __init__(self, port=8088):
+        """初始化接收器"""
+        self.port = port
+        self.data = {}
+        self.last_update = 0
+        self.running = True
+        self.device_ip = None
+
+    def start_listening(self):
+        """启动UDP监听"""
+        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        try:
+            sock.bind(('0.0.0.0', self.port))
+            print(f"正在监听端口 {self.port} 的广播数据...")
+
+            while self.running:
+                try:
+                    data, addr = sock.recvfrom(4096)
+                    self.device_ip = addr[0]
+                    try:
+                        self.data = json.loads(data.decode('utf-8'))
+                        self.last_update = time.time()
+                    except json.JSONDecodeError:
+                        print(f"接收到无效的JSON数据: {data[:100]}...")
+                except Exception as e:
+                    print(f"接收数据时出错: {e}")
+        except Exception as e:
+            print(f"无法绑定到端口 {self.port}: {e}")
+        finally:
+            sock.close()
+
+# HTML模板
+HTML_TEMPLATE = """
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>CommaAssist 数据监视器</title>
+    <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.1.3/dist/css/bootstrap.min.css" rel="stylesheet">
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 20px;
+            background-color: #f5f5f5;
+            color: #333;
+        }
+        .container {
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+        .header {
+            text-align: center;
+            margin-bottom: 20px;
+        }
+        .status {
+            text-align: center;
+            padding: 10px;
+            margin-bottom: 20px;
+            border-radius: 5px;
+        }
+        .waiting {
+            background-color: #fff3cd;
+            color: #856404;
+        }
+        .connected {
+            background-color: #d4edda;
+            color: #155724;
+        }
+        .expired {
+            background-color: #f8d7da;
+            color: #721c24;
+        }
+        .card {
+            background-color: white;
+            border-radius: 8px;
+            box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
+            margin-bottom: 20px;
+        }
+        .card-header {
+            font-weight: bold;
+            font-size: 18px;
+            border-bottom: 1px solid #eee;
+            padding: 15px;
+            background-color: #f8f9fa;
+        }
+        .card-body {
+            padding: 15px;
+        }
+        .row {
+            margin-bottom: 10px;
+        }
+        .col-6 strong {
+            color: #666;
+        }
+        .badge {
+            font-size: 100%;
+        }
+        .bg-primary {
+            background-color: #007bff;
+        }
+        .bg-success {
+            background-color: #28a745;
+        }
+        .bg-danger {
+            background-color: #dc3545;
+        }
+        .bg-warning {
+            background-color: #ffc107;
+            color: #212529;
+        }
+        .bg-info {
+            background-color: #17a2b8;
+        }
+        .nav-tabs {
+            margin-bottom: 20px;
+        }
+        .tab-content {
+            padding-top: 20px;
+        }
+        .map-container {
+            height: 300px;
+            width: 100%;
+            background-color: #eee;
+            margin-top: 10px;
+            border-radius: 5px;
+        }
+        .controls {
+            margin-bottom: 20px;
+        }
+        .auto-refresh {
+            display: inline-block;
+            margin-right: 15px;
+        }
+        pre {
+            background-color: #f5f5f5;
+            padding: 15px;
+            border-radius: 5px;
+            white-space: pre-wrap;
+            word-break: break-all;
+        }
+    </style>
+</head>
+<body>
+    <div class="container">
+        <div class="header">
+            <h1>CommaAssist 数据监视器</h1>
+        </div>
+
+        <div id="status-container" class="status waiting">
+            等待来自comma3的数据...
+        </div>
+
+        <div class="controls">
+            <label class="auto-refresh">
+                <input type="checkbox" id="auto-refresh" checked> 自动刷新 (1秒)
+            </label>
+            <button class="btn btn-primary float-end" onclick="fetchData()">刷新数据</button>
+            <div style="clear: both;"></div>
+        </div>
+
+        <ul class="nav nav-tabs" id="myTab" role="tablist">
+            <li class="nav-item" role="presentation">
+                <button class="nav-link active" id="car-tab" data-bs-toggle="tab" data-bs-target="#car-tab-pane" type="button" role="tab">
+                    车辆信息
+                </button>
+            </li>
+            <li class="nav-item" role="presentation">
+                <button class="nav-link" id="device-tab" data-bs-toggle="tab" data-bs-target="#device-tab-pane" type="button" role="tab">
+                    设备信息
+                </button>
+            </li>
+            <li class="nav-item" role="presentation">
+                <button class="nav-link" id="location-tab" data-bs-toggle="tab" data-bs-target="#location-tab-pane" type="button" role="tab">
+                    位置信息
+                </button>
+            </li>
+            <li class="nav-item" role="presentation">
+                <button class="nav-link" id="json-tab" data-bs-toggle="tab" data-bs-target="#json-tab-pane" type="button" role="tab">
+                    原始数据
+                </button>
+            </li>
+        </ul>
+
+        <div class="tab-content" id="myTabContent">
+            <!-- 车辆信息标签页 -->
+            <div class="tab-pane fade show active" id="car-tab-pane" role="tabpanel" aria-labelledby="car-tab" tabindex="0">
+                <div class="row">
+                    <div class="col-md-6">
+                        <div class="card">
+                            <div class="card-header">基本车辆信息</div>
+                            <div class="card-body">
+                                <div id="vehicle-status-container">
+                                    <div class="alert alert-warning">等待车辆数据...</div>
+                                </div>
+                            </div>
+                        </div>
+
+                        <div class="card">
+                            <div class="card-header">方向盘与控制系统</div>
+                            <div class="card-body">
+                                <div id="steering-system-container">
+                                    <div class="alert alert-warning">等待车辆数据...</div>
+                                </div>
+                            </div>
+                        </div>
+
+                        <div class="card">
+                            <div class="card-header">详细车辆信息</div>
+                            <div class="card-body">
+                                <div id="detailed-vehicle-info-container">
+                                    <div class="alert alert-warning">等待车辆数据...</div>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+
+                    <div class="col-md-6">
+                        <div class="card">
+                            <div class="card-header">踏板与制动系统</div>
+                            <div class="card-body">
+                                <div id="pedal-status-container">
+                                    <div class="alert alert-warning">等待车辆数据...</div>
+                                </div>
+                            </div>
+                        </div>
+
+                        <div class="card">
+                            <div class="card-header">车门与信号灯</div>
+                            <div class="card-body">
+                                <div id="door-lights-container">
+                                    <div class="alert alert-warning">等待车辆数据...</div>
+                                </div>
+                            </div>
+                        </div>
+
+                        <div class="card">
+                            <div class="card-header">巡航控制</div>
+                            <div class="card-body">
+                                <div id="cruise-info-container">
+                                    <div class="alert alert-warning">等待车辆数据...</div>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 设备信息标签页 -->
+            <div class="tab-pane fade" id="device-tab-pane" role="tabpanel" aria-labelledby="device-tab" tabindex="0">
+                <div class="card">
+                    <div class="card-header">设备状态</div>
+                    <div class="card-body">
+                        <div id="device-info-container">
+                            <div class="alert alert-warning">等待设备数据...</div>
+                        </div>
+                    </div>
+                </div>
+
+                <div class="card">
+                    <div class="card-header">系统资源</div>
+                    <div class="card-body">
+                        <div id="system-resources-container">
+                            <div class="alert alert-warning">等待设备数据...</div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 位置信息标签页 -->
+            <div class="tab-pane fade" id="location-tab-pane" role="tabpanel" aria-labelledby="location-tab" tabindex="0">
+                <div class="row">
+                    <div class="col-md-6">
+                        <div class="card">
+                            <div class="card-header">GPS位置</div>
+                            <div class="card-body">
+                                <div id="gps-info-container">
+                                    <div class="alert alert-warning">等待GPS数据...</div>
+                                </div>
+                            </div>
+                        </div>
+
+                        <div class="card">
+                            <div class="card-header">导航信息</div>
+                            <div class="card-body">
+                                <div id="navigation-container">
+                                    <div class="alert alert-warning">等待导航数据...</div>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+
+                    <div class="col-md-6">
+                        <div class="card">
+                            <div class="card-header">地图</div>
+                            <div class="card-body">
+                                <div id="map" class="map-container"></div>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 原始数据标签页 -->
+            <div class="tab-pane fade" id="json-tab-pane" role="tabpanel" aria-labelledby="json-tab" tabindex="0">
+                <div class="card">
+                    <div class="card-header">原始JSON数据</div>
+                    <div class="card-body">
+                        <pre id="raw-data">等待数据...</pre>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+
+    <script src="https://cdn.jsdelivr.net/npm/bootstrap@5.1.3/dist/js/bootstrap.bundle.min.js"></script>
+    <script>
+        let map, marker;
+        let lastValidLatLng = null;
+        let activeTab = 'car';  // 默认显示车辆信息标签
+
+        // 根据车辆状态自动切换标签
+        function autoSwitchTabs(isCarActive) {
+            // 如果车辆启动，切换到车辆标签；否则切换到设备标签
+            if (isCarActive && activeTab !== 'car') {
+                document.getElementById('car-tab').click();
+                activeTab = 'car';
+            } else if (!isCarActive && activeTab === 'car') {
+                document.getElementById('device-tab').click();
+                activeTab = 'device';
+            }
+        }
+
+        function initMap() {
+            if (typeof google !== 'undefined') {
+                const defaultPos = {lat: 39.9042, lng: 116.4074}; // 默认位置：北京
+                map = new google.maps.Map(document.getElementById('map'), {
+                    zoom: 16,
+                    center: defaultPos,
+                    mapTypeId: 'roadmap'
+                });
+
+                marker = new google.maps.Marker({
+                    position: defaultPos,
+                    map: map,
+                    title: 'Comma3位置'
+                });
+            }
+        }
+
+        function updateMap(lat, lng, bearing) {
+            if (typeof google !== 'undefined' && map && marker) {
+                const latLng = new google.maps.LatLng(lat, lng);
+
+                // 更新标记位置
+                marker.setPosition(latLng);
+
+                // 根据方向旋转标记
+                if (bearing !== undefined) {
+                    // 如果我们有自定义的带方向的标记图标，可以在这里设置
+                }
+
+                // 平滑移动地图中心
+                map.panTo(latLng);
+
+                lastValidLatLng = {lat, lng};
+            }
+        }
+
+        function formatDataRow(label, value, badgeClass = null) {
+            let valueHtml = value;
+            if (badgeClass) {
+                valueHtml = `<span class="badge ${badgeClass}">${value}</span>`;
+            }
+
+            return `
+                <div class="row">
+                    <div class="col-6">
+                        <strong>${label}</strong>
+                    </div>
+                    <div class="col-6">
+                        ${valueHtml}
+                    </div>
+                </div>
+            `;
+        }
+
+        function updateVehicleStatus(car) {
+            const speed = car.speed || 0;
+            const isCarMoving = speed > 1.0;
+
+            let html = '';
+
+            html += formatDataRow('运行状态', isCarMoving ? '行驶中' : '静止', isCarMoving ? 'bg-success' : 'bg-secondary');
+            html += formatDataRow('当前速度', `${speed.toFixed(1)} km/h`, 'bg-primary');
+            html += formatDataRow('档位', car.gear_shifter || 'Unknown');
+
+            document.getElementById('vehicle-status-container').innerHTML = html;
+
+            return isCarMoving;
+        }
+
+        function updateSteeringSystem(car) {
+            let html = '';
+
+            html += formatDataRow('方向盘角度', `${(car.steering_angle || 0).toFixed(1)}°`);
+            html += formatDataRow('转向力矩', `${(car.steering_torque || 0).toFixed(1)} Nm`);
+
+            let blinkerStatus = '';
+            if (car.left_blinker && car.right_blinker) blinkerStatus = '双闪';
+            else if (car.left_blinker) blinkerStatus = '左转';
+            else if (car.right_blinker) blinkerStatus = '右转';
+            else blinkerStatus = '关闭';
+
+            html += formatDataRow('转向灯', blinkerStatus);
+
+            document.getElementById('steering-system-container').innerHTML = html;
+        }
+
+        function updatePedalStatus(car) {
+            let html = '';
+
+            const brakeStatus = car.brake_pressed ? '已踩下' : '释放';
+            const gasStatus = car.gas_pressed ? '已踩下' : '释放';
+
+            html += formatDataRow('制动踏板', brakeStatus, car.brake_pressed ? 'bg-danger' : 'bg-secondary');
+            html += formatDataRow('油门踏板', gasStatus, car.gas_pressed ? 'bg-success' : 'bg-secondary');
+
+            document.getElementById('pedal-status-container').innerHTML = html;
+        }
+
+        function updateDoorLights(car) {
+            let html = '';
+
+            const doorStatus = car.door_open ? '打开' : '关闭';
+            html += formatDataRow('车门状态', doorStatus, car.door_open ? 'bg-danger' : 'bg-success');
+
+            html += formatDataRow('左转向灯', car.left_blinker ? '开启' : '关闭', car.left_blinker ? 'bg-warning' : 'bg-secondary');
+            html += formatDataRow('右转向灯', car.right_blinker ? '开启' : '关闭', car.right_blinker ? 'bg-warning' : 'bg-secondary');
+
+            document.getElementById('door-lights-container').innerHTML = html;
+        }
+
+        function updateCruiseInfo(car) {
+            let html = '';
+
+            html += formatDataRow('巡航速度', `${(car.cruise_speed || 0).toFixed(1)} km/h`, 'bg-info');
+
+            document.getElementById('cruise-info-container').innerHTML = html;
+        }
+
+        function updateDeviceInfo(device) {
+            let html = '';
+
+            html += formatDataRow('设备IP', device.ip || 'Unknown');
+
+            const battery = device.battery || {};
+            const batPercent = battery.percent || 0;
+            let batClass = 'bg-danger';
+            if (batPercent > 50) batClass = 'bg-success';
+            else if (batPercent > 20) batClass = 'bg-warning';
+
+            html += formatDataRow('电池电量', `${batPercent}%`, batClass);
+            html += formatDataRow('电池电压', `${(battery.voltage || 0).toFixed(2)} V`);
+            html += formatDataRow('电池电流', `${(battery.status || 0).toFixed(2)} A`);
+
+            document.getElementById('device-info-container').innerHTML = html;
+        }
+
+        function updateSystemResources(device) {
+            let html = '';
+
+            let memClass = 'bg-success';
+            if (device.mem_usage > 80) memClass = 'bg-danger';
+            else if (device.mem_usage > 60) memClass = 'bg-warning';
+
+            html += formatDataRow('内存使用', `${(device.mem_usage || 0).toFixed(1)}%`, memClass);
+            html += formatDataRow('CPU温度', `${(device.cpu_temp || 0).toFixed(1)}°C`);
+            html += formatDataRow('存储空间', `剩余 ${(device.free_space || 0).toFixed(1)}%`);
+
+            document.getElementById('system-resources-container').innerHTML = html;
+        }
+
+        function updateGpsInfo(location) {
+            if (!location.gps_valid) {
+                document.getElementById('gps-info-container').innerHTML =
+                    '<div class="alert alert-warning">GPS信号无效或未获取</div>';
+                return;
+            }
+
+            let html = '';
+
+            html += formatDataRow('纬度', location.latitude.toFixed(6));
+            html += formatDataRow('经度', location.longitude.toFixed(6));
+            html += formatDataRow('方向', `${location.bearing.toFixed(1)}°`);
+            html += formatDataRow('海拔', `${location.altitude.toFixed(1)} m`);
+            html += formatDataRow('GPS精度', `${location.accuracy.toFixed(1)} m`);
+            html += formatDataRow('GPS速度', `${location.speed.toFixed(1)} km/h`, 'bg-primary');
+
+            document.getElementById('gps-info-container').innerHTML = html;
+
+            // 更新地图
+            updateMap(location.latitude, location.longitude, location.bearing);
+        }
+
+        function updateNavigation(nav) {
+            if (!nav || Object.keys(nav).length === 0) {
+                document.getElementById('navigation-container').innerHTML =
+                    '<div class="alert alert-info">没有活动的导航</div>';
+                return;
+            }
+
+            let html = '';
+
+            // 格式化距离显示
+            const distRemaining = nav.distance_remaining || 0;
+            let distText = '';
+            if (distRemaining > 1000) {
+                distText = `${(distRemaining / 1000).toFixed(1)} km`;
+            } else {
+                distText = `${Math.round(distRemaining)} m`;
+            }
+
+            // 格式化时间显示
+            const timeRemaining = nav.time_remaining || 0;
+            const minutes = Math.floor(timeRemaining / 60);
+            const seconds = timeRemaining % 60;
+
+            html += formatDataRow('剩余距离', distText, 'bg-info');
+            html += formatDataRow('剩余时间', `${minutes}分${seconds}秒`, 'bg-info');
+            html += formatDataRow('道路限速', `${(nav.speed_limit || 0).toFixed(1)} km/h`, 'bg-danger');
+
+            if (nav.maneuver_distance > 0) {
+                html += formatDataRow('下一动作', nav.maneuver_text, 'bg-warning');
+                html += formatDataRow('动作距离', `${nav.maneuver_distance} m`);
+            }
+
+            document.getElementById('navigation-container').innerHTML = html;
+        }
+
+        function updateDetailedVehicleInfo(carInfo) {
+            if (!carInfo || !carInfo.details) {
+                document.getElementById('detailed-vehicle-info-container').innerHTML =
+                    '<div class="alert alert-info">没有详细车辆信息</div>';
+                return;
+            }
+
+            let html = '';
+
+            // 基本信息
+            if (carInfo.basic) {
+                html += '<h5>基本信息</h5>';
+                html += '<div class="mb-3">';
+                html += formatDataRow('车型', carInfo.basic.car_model);
+                html += formatDataRow('车辆指纹', carInfo.basic.fingerprint);
+                html += formatDataRow('车重', carInfo.basic.weight);
+                html += formatDataRow('轴距', carInfo.basic.wheelbase);
+                html += formatDataRow('转向比', carInfo.basic.steering_ratio);
+                html += '</div>';
+            }
+
+            // 巡航信息
+            if (carInfo.details.cruise) {
+                const cruise = carInfo.details.cruise;
+                html += '<h5>巡航控制</h5>';
+                html += '<div class="mb-3">';
+                html += formatDataRow('巡航状态', cruise.enabled ? '开启' : '关闭', cruise.enabled ? 'bg-success' : 'bg-secondary');
+                html += formatDataRow('自适应巡航', cruise.available ? '可用' : '不可用');
+                html += formatDataRow('设定速度', `${(cruise.speed || 0).toFixed(1)} km/h`, 'bg-info');
+                if (cruise.gap !== undefined) {
+                    html += formatDataRow('跟车距离', cruise.gap);
+                }
+                html += '</div>';
+            }
+
+            // 车轮速度
+            if (carInfo.details.wheel_speeds) {
+                const ws = carInfo.details.wheel_speeds;
+                html += '<h5>车轮速度</h5>';
+                html += '<div class="mb-3">';
+                html += formatDataRow('左前', `${(ws.fl || 0).toFixed(1)} km/h`);
+                html += formatDataRow('右前', `${(ws.fr || 0).toFixed(1)} km/h`);
+                html += formatDataRow('左后', `${(ws.rl || 0).toFixed(1)} km/h`);
+                html += formatDataRow('右后', `${(ws.rr || 0).toFixed(1)} km/h`);
+                html += '</div>';
+            }
+
+            // 方向盘信息
+            if (carInfo.details.steering) {
+                const steering = carInfo.details.steering;
+                html += '<h5>方向盘系统</h5>';
+                html += '<div class="mb-3">';
+                html += formatDataRow('方向盘角度', `${(steering.angle || 0).toFixed(1)}°`);
+                html += formatDataRow('方向盘力矩', `${(steering.torque || 0).toFixed(1)} Nm`);
+                if (steering.rate !== undefined) {
+                    html += formatDataRow('转向速率', `${steering.rate.toFixed(1)}°/s`);
+                }
+                html += '</div>';
+            }
+
+            // 安全系统
+            if (carInfo.details.safety_systems && Object.keys(carInfo.details.safety_systems).length > 0) {
+                const safety = carInfo.details.safety_systems;
+                html += '<h5>安全系统</h5>';
+                html += '<div class="mb-3">';
+                if (safety.esp_disabled !== undefined) {
+                    html += formatDataRow('ESP状态', safety.esp_disabled ? '禁用' : '正常', safety.esp_disabled ? 'bg-warning' : 'bg-success');
+                }
+                if (safety.abs_active !== undefined) {
+                    html += formatDataRow('ABS状态', safety.abs_active ? '激活' : '正常', safety.abs_active ? 'bg-warning' : 'bg-success');
+                }
+                if (safety.tcs_active !== undefined) {
+                    html += formatDataRow('牵引力控制', safety.tcs_active ? '激活' : '正常', safety.tcs_active ? 'bg-warning' : 'bg-success');
+                }
+                if (safety.collision_warning !== undefined) {
+                    html += formatDataRow('碰撞警告', safety.collision_warning ? '警告' : '正常', safety.collision_warning ? 'bg-danger' : 'bg-success');
+                }
+                html += '</div>';
+            }
+
+            // 车门信息
+            if (carInfo.details.doors && Object.keys(carInfo.details.doors).length > 0) {
+                const doors = carInfo.details.doors;
+                html += '<h5>车门状态</h5>';
+                html += '<div class="mb-3">';
+                html += formatDataRow('驾驶员门', doors.driver ? '打开' : '关闭', doors.driver ? 'bg-danger' : 'bg-success');
+                if (doors.passenger !== undefined) {
+                    html += formatDataRow('乘客门', doors.passenger ? '打开' : '关闭', doors.passenger ? 'bg-danger' : 'bg-success');
+                }
+                if (doors.trunk !== undefined) {
+                    html += formatDataRow('行李箱', doors.trunk ? '打开' : '关闭', doors.trunk ? 'bg-danger' : 'bg-success');
+                }
+                if (doors.hood !== undefined) {
+                    html += formatDataRow('引擎盖', doors.hood ? '打开' : '关闭', doors.hood ? 'bg-danger' : 'bg-success');
+                }
+                if (carInfo.status && carInfo.status.seatbelt_unlatched !== undefined) {
+                    html += formatDataRow('安全带', carInfo.status.seatbelt_unlatched ? '未系' : '已系', carInfo.status.seatbelt_unlatched ? 'bg-danger' : 'bg-success');
+                }
+                html += '</div>';
+            }
+
+            // 灯光状态
+            if (carInfo.details.lights && Object.keys(carInfo.details.lights).length > 0) {
+                const lights = carInfo.details.lights;
+                html += '<h5>灯光状态</h5>';
+                html += '<div class="mb-3">';
+                html += formatDataRow('左转向灯', lights.left_blinker ? '开启' : '关闭', lights.left_blinker ? 'bg-warning' : 'bg-secondary');
+                html += formatDataRow('右转向灯', lights.right_blinker ? '开启' : '关闭', lights.right_blinker ? 'bg-warning' : 'bg-secondary');
+                if (lights.high_beam !== undefined) {
+                    html += formatDataRow('远光灯', lights.high_beam ? '开启' : '关闭', lights.high_beam ? 'bg-info' : 'bg-secondary');
+                }
+                if (lights.low_beam !== undefined) {
+                    html += formatDataRow('近光灯', lights.low_beam ? '开启' : '关闭', lights.low_beam ? 'bg-info' : 'bg-secondary');
+                }
+                html += '</div>';
+            }
+
+            // 盲点监测
+            if (carInfo.details.blind_spot && Object.keys(carInfo.details.blind_spot).length > 0) {
+                const bs = carInfo.details.blind_spot;
+                html += '<h5>盲点监测</h5>';
+                html += '<div class="mb-3">';
+                if (bs.left !== undefined) {
+                    html += formatDataRow('左侧', bs.left ? '检测到车辆' : '无车辆', bs.left ? 'bg-warning' : 'bg-success');
+                }
+                if (bs.right !== undefined) {
+                    html += formatDataRow('右侧', bs.right ? '检测到车辆' : '无车辆', bs.right ? 'bg-warning' : 'bg-success');
+                }
+                html += '</div>';
+            }
+
+            // 其他信息
+            if (carInfo.details.other && Object.keys(carInfo.details.other).length > 0) {
+                const other = carInfo.details.other;
+                html += '<h5>其他信息</h5>';
+                html += '<div class="mb-3">';
+                if (other.outside_temp !== undefined) {
+                    html += formatDataRow('车外温度', `${other.outside_temp.toFixed(1)}°C`);
+                }
+                if (other.fuel_range !== undefined) {
+                    html += formatDataRow('续航里程', `${other.fuel_range.toFixed(1)} km`);
+                }
+                if (other.odometer !== undefined) {
+                    html += formatDataRow('里程表', `${other.odometer.toFixed(1)} km`);
+                }
+                if (other.fuel_consumption !== undefined) {
+                    html += formatDataRow('油耗', `${other.fuel_consumption.toFixed(1)} L/100km`);
+                }
+                html += '</div>';
+            }
+
+            // 如果没有任何详细信息
+            if (html === '') {
+                html = '<div class="alert alert-info">没有获取到详细车辆信息</div>';
+            }
+
+            document.getElementById('detailed-vehicle-info-container').innerHTML = html;
+        }
+
+        function fetchData() {
+            fetch('/api/data')
+                .then(response => response.json())
+                .then(data => {
+                    const statusContainer = document.getElementById('status-container');
+
+                    if (!data || !data.data || Object.keys(data.data).length === 0) {
+                        statusContainer.className = 'status waiting';
+                        statusContainer.textContent = '等待来自comma3的数据...';
+                        return;
+                    }
+
+                    const currentTime = new Date().getTime() / 1000;
+                    if (currentTime - data.last_update > 5) {
+                        statusContainer.className = 'status expired';
+                        statusContainer.textContent = `数据已过期! 上次更新: ${new Date(data.last_update * 1000).toLocaleTimeString()}`;
+                        return;
+                    }
+
+                    // 数据有效，更新UI
+                    statusContainer.className = 'status connected';
+                    statusContainer.textContent = `已连接到 ${data.device_ip || 'Comma3设备'} - 最后更新: ${new Date(data.last_update * 1000).toLocaleTimeString()}`;
+
+                    // 获取数据
+                    const carData = data.data.car || {};
+                    const deviceData = data.data.device || {};
+                    const locationData = data.data.location || {};
+                    const navData = data.data.navigation || {};
+
+                    // 先更新车辆状态，并获取车辆是否启动
+                    const isCarActive = updateVehicleStatus(carData);
+
+                    // 根据车辆状态自动切换标签页
+                    autoSwitchTabs(isCarActive);
+
+                    // 更新所有数据区域
+                    updateSteeringSystem(carData);
+                    updatePedalStatus(carData);
+                    updateDoorLights(carData);
+                    updateCruiseInfo(carData);
+                    updateDeviceInfo(deviceData);
+                    updateSystemResources(deviceData);
+                    updateGpsInfo(locationData);
+                    updateNavigation(navData);
+                    updateDetailedVehicleInfo(data.data.car_info);
+
+                    // 更新原始数据
+                    document.getElementById('raw-data').textContent = JSON.stringify(data.data, null, 2);
+                })
+                .catch(error => {
+                    console.error('获取数据出错:', error);
+                    document.getElementById('status-container').className = 'status expired';
+                    document.getElementById('status-container').textContent = '连接错误: ' + error.message;
+                });
+        }
+
+        // 标签页切换处理
+        document.addEventListener('DOMContentLoaded', function() {
+            const tabEls = document.querySelectorAll('button[data-bs-toggle="tab"]');
+            tabEls.forEach(tabEl => {
+                tabEl.addEventListener('shown.bs.tab', function (event) {
+                    // 更新当前活动标签
+                    const id = event.target.id;
+                    if (id.includes('car')) activeTab = 'car';
+                    else if (id.includes('device')) activeTab = 'device';
+                    else if (id.includes('location')) activeTab = 'location';
+                    else activeTab = 'json';
+                });
+            });
+
+            fetchData();
+
+            // 设置自动刷新
+            const autoRefreshCheckbox = document.getElementById('auto-refresh');
+            let refreshInterval;
+
+            function setAutoRefresh() {
+                if (autoRefreshCheckbox.checked) {
+                    refreshInterval = setInterval(fetchData, 1000);
+                } else {
+                    clearInterval(refreshInterval);
+                }
+            }
+
+            autoRefreshCheckbox.addEventListener('change', setAutoRefresh);
+            setAutoRefresh();
+        });
+    </script>
+
+    <!-- 加载Google地图API (需要替换为您自己的API密钥) -->
+    <script async defer
+        src="https://maps.googleapis.com/maps/api/js?key=YOUR_API_KEY&callback=initMap">
+    </script>
+</body>
+</html>
+"""
+
+def create_app(listener):
+    app = Flask(__name__)
+
+    @app.route('/')
+    def index():
+        """主页"""
+        return render_template_string(HTML_TEMPLATE)
+
+    @app.route('/api/data')
+    def get_data():
+        """提供JSON数据API"""
+        return jsonify({
+            'data': listener.data,
+            'last_update': listener.last_update,
+            'device_ip': listener.device_ip
+        })
+
+    return app
+
+def main():
+    """主函数"""
+    parser = argparse.ArgumentParser(description='CommaAssist Web监视器')
+    parser.add_argument('-p', '--port', type=int, default=8088, help='监听comma设备的UDP端口(默认: 8088)')
+    parser.add_argument('-w', '--web-port', type=int, default=5000, help='Web服务器端口(默认: 5000)')
+    parser.add_argument('--host', default='0.0.0.0', help='Web服务器监听地址(默认: 0.0.0.0)')
+    args = parser.parse_args()
+
+    # 创建监听器
+    listener = CommaWebListener(port=args.port)
+
+    # 启动接收线程
+    receiver_thread = threading.Thread(target=listener.start_listening)
+    receiver_thread.daemon = True
+    receiver_thread.start()
+
+    # 创建Flask应用
+    app = create_app(listener)
+
+    # 启动Web服务器
+    try:
+        print(f"Web服务已启动，请访问 http://{args.host}:{args.web_port}/")
+        app.run(host=args.host, port=args.web_port)
+    except KeyboardInterrupt:
+        print("\n退出...")
+    finally:
+        listener.running = False
+        receiver_thread.join(timeout=1.0)
+
+if __name__ == "__main__":
+    main()

selfdrive/manager/process_config.py

@@ -101,6 +101,9 @@ procs = [
   PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
   PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
   PythonProcess("mapd", "selfdrive.frogpilot.navigation.mapd", always_run),
+
+  # CommaAssist process
+  PythonProcess("commassist", "selfdrive.app.commassit", always_run),
 ]
 
 managed_processes = {p.name: p for p in procs}