openpilot v0.4.2 release

old-commit-hash: 28c0797d30

selfdrive/debug/can_printer.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python
 import os
 import sys
-import struct
 from collections import defaultdict
 from common.realtime import sec_since_boot
 import zmq

selfdrive/debug/get_fingerprint.py

@@ -19,7 +19,8 @@ msgs = {}
 while True:
   lc = messaging.recv_sock(logcan, True)
   for c in lc.can:
-    if c.src == 0:
+    # read also msgs sent by EON on CAN bus 0x80
+    if c.src%0x80 == 0:
       msgs[c.address] = len(c.dat)
 
   fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))

selfdrive/debug/getframes/getframes.py

@@ -1,9 +1,7 @@
 #!/usr/bin/env python
 import os
-import time
 import subprocess
 from cffi import FFI
-import ctypes
 
 import numpy as np
 

selfdrive/debug/test_carcontroller.py

@@ -1,92 +0,0 @@
-#!/usr/bin/env python
-import time
-import numpy as np
-import zmq
-from evdev import InputDevice
-from select import select
-
-from cereal import car
-from common.realtime import Ratekeeper
-
-import selfdrive.messaging as messaging
-from selfdrive.services import service_list
-from selfdrive.car import get_car
-
-
-if __name__ == "__main__":
-  # ***** connect to joystick *****
-  # we use a Mad Catz V.1
-  dev = InputDevice("/dev/input/event8")
-  print dev
-
-  button_values = [0]*7
-  axis_values = [0.0, 0.0, 0.0]
-
-  # ***** connect to car *****
-  context = zmq.Context()
-  logcan = messaging.sub_sock(context, service_list['can'].port)
-  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
-
-  CI, CP = get_car(logcan, sendcan)
-  CC = car.CarControl.new_message()
-
-  rk = Ratekeeper(100)
-
-  while 1:
-    # **** handle joystick ****
-    r, w, x = select([dev], [], [], 0.0)
-    if dev in r:
-      for event in dev.read():
-        # button event
-        if event.type == 1:
-          btn = event.code - 288 
-          if btn >= 0 and btn < 7:
-            button_values[btn] = int(event.value)
-
-        # axis move event
-        if event.type == 3:
-          if event.code < 3:
-            if event.code == 2:
-              axis_values[event.code] = np.clip((255-int(event.value))/250.0, 0.0, 1.0)
-            else:
-              DEADZONE = 5 
-              if event.value-DEADZONE < 128 and event.value+DEADZONE > 128:
-                event.value = 128 
-              axis_values[event.code] = np.clip((int(event.value)-128)/120.0, -1.0, 1.0)
-
-    print axis_values, button_values
-    # **** handle car ****
-
-    CS = CI.update(CC)
-    #print CS
-    CC = car.CarControl.new_message()
-
-
-    CC.enabled = True
-
-    CC.gas = float(np.clip(-axis_values[1], 0, 1.0))
-    CC.brake = float(np.clip(axis_values[1], 0, 1.0))
-    CC.steeringTorque = float(-axis_values[0])
-
-    CC.hudControl.speedVisible = bool(button_values[1])
-    CC.hudControl.lanesVisible = bool(button_values[2])
-    CC.hudControl.leadVisible = bool(button_values[3])
-
-    CC.cruiseControl.override = bool(button_values[0])
-    CC.cruiseControl.cancel = bool(button_values[-1])
-
-    CC.hudControl.setSpeed = float(axis_values[2] * 100.0)
-
-    # TODO: test alerts
-    CC.hudControl.visualAlert = "none"
-    CC.hudControl.audibleAlert = "none"
-
-    #print CC
-
-    if not CI.apply(CC):
-      print "CONTROLS FAILED"
-
-    rk.keep_time()
-
-
-

selfdrive/debug/test_carstate.py

@@ -1,52 +0,0 @@
-#!/usr/bin/env python
-import os
-import zmq
-from cereal import car
-
-import selfdrive.messaging as messaging
-from selfdrive.services import service_list
-
-from selfdrive.car import get_car
-
-def bpressed(CS, btype):
-  for b in CS.buttonEvents:
-    if b.type == btype:
-      return True
-  return False
-
-def test_loop():
-  context = zmq.Context()
-  logcan = messaging.sub_sock(context, service_list['can'].port)
-
-  CI, CP = get_car(logcan)
-
-  state = 0
-
-  states = [
-    "'seatbeltNotLatched' in CS.errors",
-    "CS.gasPressed",
-    "CS.brakePressed",
-    "CS.steeringPressed",
-    "bpressed(CS, 'leftBlinker')",
-    "bpressed(CS, 'rightBlinker')",
-    "bpressed(CS, 'cancel')",
-    "bpressed(CS, 'accelCruise')",
-    "bpressed(CS, 'decelCruise')",
-    "bpressed(CS, 'altButton1')",
-    "'doorOpen' in CS.errors",
-    "False"]
-
-  while 1:
-    CC = car.CarControl.new_message()
-    # read CAN
-    CS = CI.update(CC)
-
-    while eval(states[state]) == True:
-      state += 1
-
-    print "IN STATE %d: waiting for %s" % (state, states[state])
-    #print CS
-
-if __name__ == "__main__":
-  test_loop()
-