openpilot v0.7.8 release

selfdrive/controls/controlsd.py

@@ -10,7 +10,7 @@ from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.config import Conversions as CV
 from selfdrive.boardd.boardd import can_list_to_can_capnp
-from selfdrive.car.car_helpers import get_car, get_startup_event
+from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
 from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
 from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
@@ -64,7 +64,7 @@ class Controls:
     hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
     has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
     print("Waiting for CAN messages...")
-    messaging.get_one_can(self.can_sock)
+    get_one_can(self.can_sock)
 
     self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)
 
@@ -216,6 +216,8 @@ class Controls:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
       self.events.add(EventName.posenetInvalid)
+    if not self.sm['liveLocationKalman'].deviceStable:
+      self.events.add(EventName.deviceFalling)
     if not self.sm['frame'].recoverState < 2:
       # counter>=2 is active
       self.events.add(EventName.focusRecoverActive)

selfdrive/controls/lib/alertmanager.py

@@ -1,14 +1,34 @@
+import os
+import copy
+import json
+
 from cereal import car, log
+from common.basedir import BASEDIR
+from common.params import Params
 from common.realtime import DT_CTRL
 from selfdrive.swaglog import cloudlog
-import copy
-
 
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
+
+with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+  OFFROAD_ALERTS = json.load(f)
+
+
+def set_offroad_alert(alert, show_alert, extra_text=None):
+  if show_alert:
+    a = OFFROAD_ALERTS[alert]
+    if extra_text is not None:
+      a = copy.copy(OFFROAD_ALERTS[alert])
+      a['text'] += extra_text
+    Params().put(alert, json.dumps(a))
+  else:
+    Params().delete(alert)
+
+
 class AlertManager():
 
   def __init__(self):

selfdrive/controls/lib/alerts_offroad.json

@@ -16,6 +16,11 @@
     "text": "Connect to internet to check for updates. openpilot won't engage until it connects to internet to check for updates.",
     "severity": 1
   },
+  "Offroad_UpdateFailed": {
+    "text": "Unable to download updates\n",
+    "severity": 1,
+    "_comment": "Append the command and error to the text."
+  },
   "Offroad_PandaFirmwareMismatch": {
     "text": "Unexpected panda firmware version. System won't start. Reboot your device to reflash panda.",
     "severity": 1
@@ -27,5 +32,9 @@
   "Offroad_IsTakingSnapshot": {
     "text": "Taking camera snapshots. System won't start until finished.",
     "severity": 0
+  },
+  "Offroad_NeosUpdate": {
+    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
+    "severity": 0
   }
 }

selfdrive/controls/lib/events.py

@@ -1,5 +1,6 @@
-from cereal import log, car
+from functools import total_ordering
 
+from cereal import log, car
 from common.realtime import DT_CTRL
 from selfdrive.config import Conversions as CV
 from selfdrive.locationd.calibration_helpers import Filter
@@ -93,6 +94,7 @@ class Events:
       ret.append(event)
     return ret
 
+@total_ordering
 class Alert:
   def __init__(self,
                alert_text_1,
@@ -136,6 +138,9 @@ class Alert:
   def __gt__(self, alert2):
     return self.alert_priority > alert2.alert_priority
 
+  def __eq__(self, alert2):
+    return self.alert_priority == alert2.alert_priority
+
 class NoEntryAlert(Alert):
   def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
                visual_alert=VisualAlert.none, duration_hud_alert=2.):
@@ -525,15 +530,6 @@ EVENTS = {
                               duration_hud_alert=0.),
   },
 
-  EventName.posenetInvalid: {
-    ET.WARNING: Alert(
-      "TAKE CONTROL",
-      "Vision Model Output Uncertain",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
-    ET.NO_ENTRY: NoEntryAlert("Vision Model Output Uncertain"),
-  },
-
   EventName.focusRecoverActive: {
     ET.WARNING: Alert(
       "TAKE CONTROL",
@@ -654,6 +650,16 @@ EVENTS = {
     ET.NO_ENTRY : NoEntryAlert("Driving model lagging"),
   },
 
+  EventName.posenetInvalid: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Vision Model Output Uncertain"),
+    ET.NO_ENTRY: NoEntryAlert("Vision Model Output Uncertain"),
+  },
+
+  EventName.deviceFalling: {
+    ET.SOFT_DISABLE: SoftDisableAlert("Device Fell Off Mount"),
+    ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"),
+  },
+
   EventName.lowMemory: {
     ET.SOFT_DISABLE: SoftDisableAlert("Low Memory: Reboot Your Device"),
     ET.PERMANENT: Alert(

selfdrive/controls/lib/latcontrol_pid.py

@@ -8,7 +8,8 @@ class LatControlPID():
   def __init__(self, CP):
     self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                             (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
-                            k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, sat_limit=CP.steerLimitTimer)
+                            k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0,
+                            sat_limit=CP.steerLimitTimer)
     self.angle_steers_des = 0.
 
   def reset(self):

selfdrive/controls/lib/longcontrol.py

@@ -85,7 +85,7 @@ class LongControl():
 
     v_ego_pid = max(CS.vEgo, MIN_CAN_SPEED)  # Without this we get jumps, CAN bus reports 0 when speed < 0.3
 
-    if self.long_control_state == LongCtrlState.off:
+    if self.long_control_state == LongCtrlState.off or CS.gasPressed:
       self.v_pid = v_ego_pid
       self.pid.reset()
       output_gb = 0.

selfdrive/controls/lib/planner.py

@@ -129,7 +129,7 @@ class Planner():
     following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0
 
     # Calculate speed for normal cruise control
-    if enabled and not self.first_loop:
+    if enabled and not self.first_loop and not sm['carState'].gasPressed:
       accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
       jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]  # TODO: make a separate lookup for jerk tuning
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP)