mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-19 08:12:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

openpilot v0.7.8 release

Browse Source
This commit is contained in:
Vehicle Researcher
2020-08-13 00:37:05 +00:00
parent f370bf5ba6
commit 0aa4867be4
147 changed files with 3679 additions and 2713 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/SConscript
+5 -5
View File
@@ -1,6 +1,6 @@
Import('env')
Import('env', 'cython_dependencies')
# parser
env.Command(['common_pyx.so'],
['common_pyx_setup.py', 'clock.pyx'],
"cd common && python3 common_pyx_setup.py build_ext --inplace")
# Build cython clock module
env.Command(['common_pyx.so', 'clock.cpp'],
cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
"cd common && python3 common_pyx_setup.py build_ext --inplace")
common/kalman/SConscript
+3 -3
View File
@@ -1,6 +1,6 @@
Import('env')
Import('env', 'cython_dependencies')
env.Command(['simple_kalman_impl.so'],
['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
cython_dependencies + ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
common/kalman/simple_kalman_old.py
+1 -1
View File
@@ -8,7 +8,7 @@ class KF1D:
def __init__(self, x0, A, C, K):
self.x = x0
self.A = A
self.C = C
self.C = np.atleast_2d(C)
self.K = K
self.A_K = self.A - np.dot(self.K, self.C)
common/kalman/tests/test_simple_kalman.py
+10 -10
View File
@@ -21,10 +21,10 @@ class TestSimpleKalman(unittest.TestCase):
K0_0 = 0.12287673
K1_0 = 0.29666309
self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.matrix([C0_0, C0_1]),
K=np.matrix([[K0_0], [K1_0]]))
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.array([C0_0, C0_1]),
K=np.array([[K0_0], [K1_0]]))
self.kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]],
@@ -47,8 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
x = self.kf.update(v_wheel)
# Compare the output x, verify that the error is less than 1e-4
self.assertAlmostEqual(x_old[0], x[0])
self.assertAlmostEqual(x_old[1], x[1])
np.testing.assert_almost_equal(x_old[0], x[0])
np.testing.assert_almost_equal(x_old[1], x[1])
def test_new_is_faster(self):
setup = """
@@ -69,10 +69,10 @@ C0_1 = 0.0
K0_0 = 0.12287673
K1_0 = 0.29666309
kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.matrix([C0_0, C0_1]),
K=np.matrix([[K0_0], [K1_0]]))
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.array([C0_0, C0_1]),
K=np.array([[K0_0], [K1_0]]))
kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]],
common/params.py
+6 -3
View File
@@ -80,6 +80,7 @@ keys = {
"IsUploadRawEnabled": [TxType.PERSISTENT],
"LastAthenaPingTime": [TxType.PERSISTENT],
"LastUpdateTime": [TxType.PERSISTENT],
"LastUpdateException": [TxType.PERSISTENT],
"LimitSetSpeed": [TxType.PERSISTENT],
"LimitSetSpeedNeural": [TxType.PERSISTENT],
"LiveParameters": [TxType.PERSISTENT],
@@ -108,6 +109,7 @@ keys = {
"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
}
@@ -319,14 +321,15 @@ def write_db(params_path, key, value):
lock.acquire()
try:
tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
with open(tmp_path, "wb") as f:
tmp_path = tempfile.NamedTemporaryFile(mode="wb", prefix=".tmp", dir=params_path, delete=False)
with tmp_path as f:
f.write(value)
f.flush()
os.fsync(f.fileno())
os.chmod(tmp_path.name, 0o666)
path = "%s/d/%s" % (params_path, key)
os.rename(tmp_path, path)
os.rename(tmp_path.name, path)
fsync_dir(os.path.dirname(path))
finally:
os.umask(prev_umask)
common/spinner.py
+11 -25
View File
@@ -4,14 +4,17 @@ from common.basedir import BASEDIR
class Spinner():
def __init__(self):
try:
self.spinner_proc = subprocess.Popen(["./spinner"],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
close_fds=True)
except OSError:
self.spinner_proc = None
def __init__(self, noop=False):
# spinner is currently only implemented for android
self.spinner_proc = None
if not noop:
try:
self.spinner_proc = subprocess.Popen(["./spinner"],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
close_fds=True)
except OSError:
self.spinner_proc = None
def __enter__(self):
return self
@@ -40,23 +43,6 @@ class Spinner():
self.close()
class FakeSpinner(Spinner):
def __init__(self): # pylint: disable=super-init-not-called
pass
def __enter__(self):
return self
def update(self, _):
pass
def close(self):
pass
def __exit__(self, exc_type, exc_value, traceback):
pass
if __name__ == "__main__":
import time
with Spinner() as s:
common/text_window.py
+16 -36
View File
@@ -6,20 +6,22 @@ from common.basedir import BASEDIR
class TextWindow():
def __init__(self, s):
try:
self.text_proc = subprocess.Popen(["./text", s],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
close_fds=True)
except OSError:
self.text_proc = None
def __init__(self, s, noop=False):
# text window is only implemented for android currently
self.text_proc = None
if not noop:
try:
self.text_proc = subprocess.Popen(["./text", s],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
close_fds=True)
except OSError:
self.text_proc = None
def get_status(self):
if self.text_proc is not None:
self.text_proc.poll()
return self.text_proc.returncode
return None
def __enter__(self):
@@ -31,10 +33,11 @@ class TextWindow():
self.text_proc = None
def wait_for_exit(self):
while True:
if self.get_status() == 1:
return
time.sleep(0.1)
if self.text_proc is not None:
while True:
if self.get_status() == 1:
return
time.sleep(0.1)
def __del__(self):
self.close()
@@ -43,29 +46,6 @@ class TextWindow():
self.close()
class FakeTextWindow(TextWindow):
def __init__(self, s): # pylint: disable=super-init-not-called
pass
def get_status(self):
return 1
def wait_for_exit(self):
return
def __enter__(self):
return self
def update(self, _):
pass
def close(self):
pass
def __exit__(self, exc_type, exc_value, traceback):
pass
if __name__ == "__main__":
text = """Traceback (most recent call last):
File "./controlsd.py", line 608, in <module>
common/transformations/SConscript
+5 -6
View File
@@ -1,9 +1,8 @@
Import('env')
Import('env', 'cython_dependencies')
d = Dir('.')
env.Command(
['transformations.so'],
['transformations.pxd', 'transformations.pyx',
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
env.Command(['transformations.so'],
cython_dependencies + ['transformations.pxd', 'transformations.pyx',
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
common/transformations/camera.py
+7
View File
@@ -52,6 +52,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
return np.hstack((view_from_road, [[0], [height], [0]]))
# aka 'extrinsic_matrix'
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
return np.hstack((view_from_calib, [[0], [height], [0]]))
def vp_from_ke(m):
"""
Computes the vanishing point from the product of the intrinsic and extrinsic
common/transformations/coordinates.cc
+3 -3
View File
@@ -10,9 +10,9 @@
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
double a = 6378137;
double b = 6356752.3142;
double esq = 6.69437999014 * 0.001;
double a = 6378137; // lgtm [cpp/short-global-name]
double b = 6356752.3142; // lgtm [cpp/short-global-name]
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
double e1sq = 6.73949674228 * 0.001;
common/transformations/model.py
+4
View File
@@ -2,6 +2,7 @@ import numpy as np
from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
get_view_frame_from_road_frame,
get_view_frame_from_calib_frame,
vp_from_ke)
# segnet
@@ -73,6 +74,9 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
get_view_frame_from_road_frame(0, 0, 0, model_height))
medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
get_view_frame_from_calib_frame(0, 0, 0, 0))
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
common/transformations/orientation.py
-1
View File
@@ -46,7 +46,6 @@ quats_from_rotations = rot2quat
quat_from_rot = rot2quat
rotations_from_quats = quat2rot
rot_from_quat = quat2rot
rot_from_quat = quat2rot
euler_from_rot = rot2euler
euler_from_quat = quat2euler
rot_from_euler = euler2rot