mirror of
https://github.com/firestar5683/StarPilot.git
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Compare commits
8 Commits
op_model_8
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opgmmaster
| Author | SHA1 | Date | |
|---|---|---|---|
 Eric Brown
|
a2b27fc469 | ||
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firestar5683
|
1012d0e558 | ||
|
Eric Brown
|
9cbe58f879 | ||
|
Eric Brown
|
dedc14ea14 | ||
|
Eric Brown
|
6b6c20ab7f | ||
|
Eric Brown
|
e5e212c8ca | ||
|
Eric Brown
|
92278391be | ||
|
Eric Brown
|
3e5abf47d3 |
@@ -30,46 +30,45 @@ env:
|
||||
PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
|
||||
|
||||
jobs:
|
||||
build_release:
|
||||
name: build release
|
||||
runs-on:
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
# build_release:
|
||||
# name: build release
|
||||
# runs-on:
|
||||
# - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
|
||||
env:
|
||||
STRIPPED_DIR: /tmp/releasepilot
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- name: Getting LFS files
|
||||
uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
|
||||
with:
|
||||
timeout_minutes: 2
|
||||
max_attempts: 3
|
||||
command: git lfs pull
|
||||
- name: Build devel
|
||||
timeout-minutes: 1
|
||||
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot and run checks
|
||||
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "python3 system/manager/build.py"
|
||||
- name: Run tests
|
||||
timeout-minutes: 1
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "release/check-dirty.sh"
|
||||
- name: Check submodules
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
timeout-minutes: 3
|
||||
run: release/check-submodules.sh
|
||||
# env:
|
||||
# STRIPPED_DIR: /tmp/releasepilot
|
||||
# steps:
|
||||
# - uses: actions/checkout@v4
|
||||
# with:
|
||||
# submodules: true
|
||||
# - name: Getting LFS files
|
||||
# uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
|
||||
# with:
|
||||
# timeout_minutes: 2
|
||||
# max_attempts: 3
|
||||
# command: git lfs pull
|
||||
# - name: Build devel
|
||||
# timeout-minutes: 1
|
||||
# run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
|
||||
# - uses: ./.github/workflows/setup-with-retry
|
||||
# - name: Build openpilot and run checks
|
||||
# timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
|
||||
# run: |
|
||||
# cd $STRIPPED_DIR
|
||||
# ${{ env.RUN }} "python3 system/manager/build.py"
|
||||
# - name: Run tests
|
||||
# timeout-minutes: 1
|
||||
# run: |
|
||||
# cd $STRIPPED_DIR
|
||||
# ${{ env.RUN }} "release/check-dirty.sh"
|
||||
# - name: Check submodules
|
||||
# if: github.repository == 'commaai/openpilot'
|
||||
# timeout-minutes: 3
|
||||
# run: release/check-submodules.sh
|
||||
|
||||
build:
|
||||
runs-on:
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
|
||||
- 'ubuntu-24.04'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -85,7 +84,7 @@ jobs:
|
||||
|
||||
build_mac:
|
||||
name: build macOS
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
runs-on: 'macos-latest'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -119,8 +118,7 @@ jobs:
|
||||
static_analysis:
|
||||
name: static analysis
|
||||
runs-on:
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
|
||||
- 'ubuntu-24.04'
|
||||
env:
|
||||
PYTHONWARNINGS: default
|
||||
steps:
|
||||
@@ -135,8 +133,7 @@ jobs:
|
||||
unit_tests:
|
||||
name: unit tests
|
||||
runs-on:
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
|
||||
- 'ubuntu-24.04'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -162,8 +159,7 @@ jobs:
|
||||
process_replay:
|
||||
name: process replay
|
||||
runs-on:
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
|
||||
- 'ubuntu-24.04'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -215,8 +211,7 @@ jobs:
|
||||
test_cars:
|
||||
name: cars
|
||||
runs-on:
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
|
||||
- 'ubuntu-24.04'
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -307,8 +302,7 @@ jobs:
|
||||
simulator_driving:
|
||||
name: simulator driving
|
||||
runs-on:
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
|
||||
- 'ubuntu-24.04'
|
||||
if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -329,8 +323,7 @@ jobs:
|
||||
# This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
|
||||
name: Create UI Report
|
||||
runs-on:
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
|
||||
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
|
||||
- 'ubuntu-24.04'
|
||||
if: false # FIXME: FrameReader is broken on CI runners
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
@@ -1,110 +1,62 @@
|
||||
<div align="center" style="text-align: center;">
|
||||
# OPGM: openpilot for Unsupported GM Cars
|
||||
|
||||
<h1>openpilot</h1>
|
||||
OPGM is a fork of [openpilot](https://github.com/commaai/openpilot/), the open source driver assistance system by comma.ai. This fork enables support for GM vehicles that are not officially supported upstream, while staying as close as possible to stock openpilot behavior.
|
||||
|
||||
<p>
|
||||
<b>openpilot is an operating system for robotics.</b>
|
||||
<br>
|
||||
Currently, it upgrades the driver assistance system in 300+ supported cars.
|
||||
</p>
|
||||
> OPGM strives to be **"stock openpilot for unsupported GM cars."**
|
||||
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Community</a>
|
||||
<span> · </span>
|
||||
<a href="https://comma.ai/shop">Try it on a comma 3X</a>
|
||||
</h3>
|
||||
To achieve this, OPGM follows these development guidelines:
|
||||
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
1. **Non-GM code is never modified** by OPGM. Shared/common code is modified only when absolutely necessary.
|
||||
2. **Upstream-supported GM vehicles** are only patched to enable additional functionality (e.g., stop-and-go support, lower min engagement speed).
|
||||
3. **Control schemes already supported by upstream openpilot** must not be modified. Alternate control schemes, such as `pedal long` or `CC long`, are exempt from this rule.
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
For general openpilot documentation, setup, and developer guidance, refer to the [official openpilot repo](https://github.com/commaai/openpilot/).
|
||||
|
||||
</div>
|
||||
---
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
|
||||
<td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
## Features
|
||||
|
||||
- Support for GM Global A vehicles with LKAS but no ACC
|
||||
- `pedal long`: Longitudinal control using a pedal interceptor
|
||||
- Enables full regenerative braking on Bolt EV/EUV (even those with ACC)
|
||||
- `CC long`: Non-ACC cruise control adjustment, aka [“redneck ACC”](https://www.youtube.com/watch?v=41wZ1EAmf94)
|
||||
- ⚠️ Cannot reduce speed below stock cruise control limits (usually 24mph)
|
||||
|
||||
Using openpilot in a car
|
||||
------
|
||||
---
|
||||
|
||||
To use openpilot in a car, you need four things:
|
||||
1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
|
||||
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
|
||||
3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
|
||||
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
|
||||
## Supported Vehicles
|
||||
|
||||
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
|
||||
Support is focused on GM Global A vehicles with factory LKAS. For the latest list, see [CARS.md](https://github.com/opgm/opendbc/blob/master/docs/CARS.md)
|
||||
|
||||
### Branches
|
||||
| branch | URL | description |
|
||||
|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
|
||||
| `release3` | openpilot.comma.ai | This is openpilot's release branch. |
|
||||
| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
|
||||
| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
|
||||
| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
|
||||
| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. |
|
||||
If your vehicle isn’t listed, but has LKAS and a front-facing camera, it might still be supported or supportable. See the “contributing” section below.
|
||||
|
||||
To start developing openpilot
|
||||
------
|
||||
---
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
|
||||
## Installation
|
||||
|
||||
* Join the [community Discord](https://discord.comma.ai)
|
||||
* Check out [the contributing docs](docs/CONTRIBUTING.md)
|
||||
* Check out the [openpilot tools](tools/)
|
||||
* Read about the [development workflow](docs/WORKFLOW.md)
|
||||
* Code documentation lives at https://docs.comma.ai
|
||||
* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
|
||||
Hardware installation is the same as for any vehicle with the standard GM harness in upstream openpilot.
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
|
||||
For software installation, type `opgm/release` into the custom software field, or `opgm/nightly` if you want to live on the bleeding edge.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
> **Note:** For EVs without ACC, a [pedal interceptor](https://www.etsy.com/listing/952895642/openpilot-comma-pedal-non-customizable?variation0=3013902165) is **strongly recommended** for a better experience.
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
---
|
||||
|
||||
<details>
|
||||
<summary>MIT Licensed</summary>
|
||||
## Contributing
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
All development occurs on the `master` branch. Contributions are welcome: feel free to open a PR.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
Bug reports and vehicle porting discussions happen in the OPGM channel on the [openpilot community Discord](https://discord.gg/KGWEdwSnCU).
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
</details>
|
||||
---
|
||||
|
||||
<details>
|
||||
<summary>User Data and comma Account</summary>
|
||||
## Known Issues
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
- Curve hugging and lane line drift are inherited from upstream openpilot.
|
||||
- Upstream-supported GM cars (e.g. ACC Volt/Bolt) may fail to fingerprint automatically in OPGM.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
---
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
## License
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
</details>
|
||||
Licensed under the MIT License. See [LICENSE](LICENSE) for details.
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 0676642f40...f8702d25a8
@@ -25,7 +25,7 @@ rm -rf $BUILD_DIR
|
||||
mkdir -p $BUILD_DIR
|
||||
cd $BUILD_DIR
|
||||
git init
|
||||
git remote add origin git@github.com:commaai/openpilot.git
|
||||
git remote add origin git@github.com:opgm/openpilot.git
|
||||
git checkout --orphan $RELEASE_BRANCH
|
||||
|
||||
# do the files copy
|
||||
@@ -91,7 +91,7 @@ git commit --amend -m "openpilot v$VERSION"
|
||||
|
||||
# Run tests
|
||||
cd $BUILD_DIR
|
||||
RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
|
||||
#RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
|
||||
#pytest selfdrive/car/tests/test_car_interfaces.py
|
||||
|
||||
if [ ! -z "$RELEASE_BRANCH" ]; then
|
||||
|
||||
+2
-2
@@ -1,4 +1,4 @@
|
||||
export GIT_COMMITTER_NAME="Vehicle Researcher"
|
||||
export GIT_COMMITTER_NAME="OPGM CI Automated"
|
||||
export GIT_COMMITTER_EMAIL="user@comma.ai"
|
||||
export GIT_AUTHOR_NAME="Vehicle Researcher"
|
||||
export GIT_AUTHOR_NAME="OPGM CI Automated"
|
||||
export GIT_AUTHOR_EMAIL="user@comma.ai"
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
from cereal import car, log
|
||||
import cereal.messaging as messaging
|
||||
from opendbc.car import DT_CTRL, structs
|
||||
from opendbc.car.gm.values import GMFlags
|
||||
from opendbc.car.interfaces import MAX_CTRL_SPEED
|
||||
from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
|
||||
|
||||
@@ -103,11 +104,14 @@ class CarSpecificEvents:
|
||||
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
|
||||
self.CP.networkLocation == NetworkLocation.fwdCamera):
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if CS.cruiseState.standstill:
|
||||
if CS.cruiseState.standstill and not self.CP.autoResumeSng:
|
||||
events.add(EventName.resumeRequired)
|
||||
if CS.vEgo < self.CP.minSteerSpeed:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
if (self.CP.flags & GMFlags.CC_LONG) and CS.vEgo < self.CP.minEnableSpeed and CS.cruiseState.enabled:
|
||||
events.add(EventName.speedTooLow)
|
||||
|
||||
elif self.CP.brand == 'volkswagen':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
||||
pcm_enable=self.CP.pcmCruise)
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
|
||||
from openpilot.common.swaglog import cloudlog, ForwardingHandler
|
||||
|
||||
from opendbc.car import DT_CTRL, structs
|
||||
from opendbc.car import DT_CTRL, structs, ButtonType
|
||||
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
from opendbc.car.fw_versions import ObdCallback
|
||||
@@ -73,6 +73,7 @@ class Car:
|
||||
self.CC_prev = car.CarControl.new_message()
|
||||
self.CS_prev = car.CarState.new_message()
|
||||
self.initialized_prev = False
|
||||
self.resume_prev_button = False
|
||||
|
||||
self.last_actuators_output = structs.CarControl.Actuators()
|
||||
|
||||
@@ -185,12 +186,17 @@ class Car:
|
||||
self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
|
||||
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
|
||||
# Use CarState w/ buttons from the step selfdrived enables on
|
||||
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
|
||||
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.resume_prev_button)
|
||||
|
||||
# TODO: mirror the carState.cruiseState struct?
|
||||
CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
|
||||
CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
|
||||
|
||||
if any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents):
|
||||
self.resume_prev_button = True
|
||||
elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in CS.buttonEvents):
|
||||
self.resume_prev_button = False
|
||||
|
||||
return CS, RD
|
||||
|
||||
def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
|
||||
|
||||
@@ -2,6 +2,7 @@ import math
|
||||
import numpy as np
|
||||
|
||||
from cereal import car
|
||||
from opendbc.car.gm.values import CC_ONLY_CAR, GMFlags
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
|
||||
|
||||
@@ -31,6 +32,7 @@ CRUISE_INTERVAL_SIGN = {
|
||||
class VCruiseHelper:
|
||||
def __init__(self, CP):
|
||||
self.CP = CP
|
||||
self.gm_cc_only = self.CP.carFingerprint in CC_ONLY_CAR and self.CP.flags & GMFlags.CC_LONG.value
|
||||
self.v_cruise_kph = V_CRUISE_UNSET
|
||||
self.v_cruise_cluster_kph = V_CRUISE_UNSET
|
||||
self.v_cruise_kph_last = 0
|
||||
@@ -45,7 +47,7 @@ class VCruiseHelper:
|
||||
self.v_cruise_kph_last = self.v_cruise_kph
|
||||
|
||||
if CS.cruiseState.available:
|
||||
if not self.CP.pcmCruise:
|
||||
if self.gm_cc_only or not self.CP.pcmCruise:
|
||||
# if stock cruise is completely disabled, then we can use our own set speed logic
|
||||
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
|
||||
self.v_cruise_cluster_kph = self.v_cruise_kph
|
||||
@@ -123,14 +125,15 @@ class VCruiseHelper:
|
||||
self.button_timers[b.type.raw] = 1 if b.pressed else 0
|
||||
self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
|
||||
|
||||
def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
|
||||
def initialize_v_cruise(self, CS, experimental_mode: bool, resume_prev_button: bool) -> None:
|
||||
# initializing is handled by the PCM
|
||||
if self.CP.pcmCruise:
|
||||
if self.CP.pcmCruise and not self.gm_cc_only:
|
||||
return
|
||||
|
||||
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
|
||||
|
||||
if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
|
||||
if (any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
|
||||
and self.v_cruise_initialized or (self.gm_cc_only and resume_prev_button)):
|
||||
self.v_cruise_kph = self.v_cruise_kph_last
|
||||
else:
|
||||
self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
|
||||
|
||||
@@ -59,7 +59,7 @@ class TestVCruiseHelper:
|
||||
|
||||
def enable(self, v_ego, experimental_mode):
|
||||
# Simulates user pressing set with a current speed
|
||||
self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
|
||||
self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, False)
|
||||
|
||||
def test_adjust_speed(self):
|
||||
"""
|
||||
|
||||
@@ -1,22 +1,22 @@
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from opendbc.car.docs import generate_cars_md, get_all_car_docs
|
||||
from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
|
||||
from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
|
||||
from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
|
||||
|
||||
|
||||
class TestCarDocs:
|
||||
@classmethod
|
||||
def setup_class(cls):
|
||||
cls.all_cars = get_all_car_docs()
|
||||
|
||||
def test_generator(self):
|
||||
generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
|
||||
def test_docs_diff(self):
|
||||
dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
|
||||
dump_car_docs(dump_path)
|
||||
print_car_docs_diff(dump_path)
|
||||
os.remove(dump_path)
|
||||
# import os
|
||||
#
|
||||
# from openpilot.common.basedir import BASEDIR
|
||||
# from opendbc.car.docs import generate_cars_md, get_all_car_docs
|
||||
# from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
|
||||
# from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
|
||||
# from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
|
||||
#
|
||||
#
|
||||
# class TestCarDocs:
|
||||
# @classmethod
|
||||
# def setup_class(cls):
|
||||
# cls.all_cars = get_all_car_docs()
|
||||
#
|
||||
# def test_generator(self):
|
||||
# generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
#
|
||||
# def test_docs_diff(self):
|
||||
# dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
|
||||
# dump_car_docs(dump_path)
|
||||
# print_car_docs_diff(dump_path)
|
||||
# os.remove(dump_path)
|
||||
|
||||
@@ -113,6 +113,8 @@ class Controls:
|
||||
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
|
||||
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
|
||||
|
||||
if len(long_plan.speeds):
|
||||
actuators.speed = long_plan.speeds[-1]
|
||||
# Steering PID loop and lateral MPC
|
||||
# Reset desired curvature to current to avoid violating the limits on engage
|
||||
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
|
||||
|
||||
+1
-1
@@ -127,7 +127,7 @@ function op_check_os() {
|
||||
if [ -f "/etc/os-release" ]; then
|
||||
source /etc/os-release
|
||||
case "$VERSION_CODENAME" in
|
||||
"jammy" | "kinetic" | "noble" | "focal")
|
||||
"jammy" | "kinetic" | "noble" | "focal" | "trixie")
|
||||
echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected."
|
||||
;;
|
||||
* )
|
||||
|
||||
Reference in New Issue
Block a user