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Merge branch 'devel-zhs' into 0.6.5-zhs

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dragonpilot
2019-10-31 11:16:34 +10:00
parent 6decf58c8a b7ae456df0
commit 2dd565b02e
16 changed files with 100 additions and 52 deletions
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README.md
+1
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@@ -109,6 +109,7 @@ Supported Cars
| Toyota | Corolla 2017-19 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Corolla Hybrid 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Highlander 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
apk/ai.comma.plus.offroad.apk
BIN
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Binary file not shown.
cereal/car.capnp
+1
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@@ -86,6 +86,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
internetConnectivityNeeded @61;
manualSteeringRequired @62;
manualSteeringRequiredBlinkersOn @63;
leadCarMoving @64;
}
}
common/params.py
+2
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@@ -139,6 +139,8 @@ keys = {
"DragonCarModel": [TxType.PERSISTENT],
"DragonCarVIN": [TxType.PERSISTENT],
"DragonEnableSlowOnCurve": [TxType.PERSISTENT],
"DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
"DragonToyotaSnGMod": [TxType.PERSISTENT],
}
launch_chffrplus.sh
-1
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@@ -26,7 +26,6 @@ function launch {
# fi
chmod 700 reset_update.sh
chmod 700 update_panda_firmware.sh
chmod 700 bs
# no cpu rationing for now
echo 0-3 > /dev/cpuset/background/cpus
panda/board/safety/safety_honda.h
+8 -7
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@@ -19,7 +19,7 @@ bool honda_fwd_brake = false;
static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
//int len = GET_LEN(to_push);
int len = GET_LEN(to_push);
int bus = GET_BUS(to_push);
// sample speed
@@ -63,23 +63,23 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
if (false) {
if ((addr == 0x201) && (len == 6)) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
controls_allowed = 0;
controls_allowed = 1;
}
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press if no interceptor
if (false) {
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
int gas = GET_BYTE(to_push, 0);
if (gas && !(honda_gas_prev) && long_controls_allowed) {
controls_allowed = 0;
controls_allowed = 1;
}
honda_gas_prev = gas;
}
@@ -114,8 +114,9 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
(honda_brake_pressed_prev && honda_moving);
//int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
// (honda_brake_pressed_prev && honda_moving);
int pedal_pressed = honda_brake_pressed_prev && honda_moving;
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
// BRAKE: safety check
panda/board/safety/safety_toyota.h
+6 -7
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@@ -54,12 +54,11 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// enter controls on rising edge of ACC, exit controls on ACC off
controls_allowed = 1;
if (false) {
if (addr == 0x1D2) {
// 5th bit is CRUISE_ACTIVE
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
if (!cruise_engaged) {
controls_allowed = 0;
controls_allowed = 1;
}
if (cruise_engaged && !toyota_cruise_engaged_last) {
controls_allowed = 1;
@@ -68,22 +67,22 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// exit controls on rising edge of interceptor gas press
if (false) {
if (addr == 0x201) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
controls_allowed = 0;
controls_allowed = 1;
}
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press
if (false) {
if (addr == 0x2C1) {
int gas = GET_BYTE(to_push, 6) & 0xFF;
if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
controls_allowed = 0;
controls_allowed = 1;
}
toyota_gas_prev = gas;
}
selfdrive/car/honda/carcontroller.py
+9 -9
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@@ -190,15 +190,15 @@ class CarController():
# DragonAllowGas
# if we detect gas pedal pressed, we do not want OP to apply gas or brake
# gasPressed code from interface.py
if not CS.CP.enableGasInterceptor:
gasPressed = CS.pedal_gas > 0
else:
gasPressed = CS.user_gas_pressed
dragon_apply_brake = apply_brake
if self.dragon_allow_gas and gasPressed:
dragon_apply_brake = 0
apply_gas = 0
can_sends.append(hondacan.create_brake_command(self.packer, dragon_apply_brake, pump_on,
# if not CS.CP.enableGasInterceptor:
# gas_pressed = CS.pedal_gas > 0
# else:
# gas_pressed = CS.user_gas_pressed
# dragon_apply_brake = apply_brake
# if self.dragon_allow_gas and gas_pressed:
# dragon_apply_brake = 0
# apply_gas = 0
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
self.apply_brake_last = apply_brake
selfdrive/car/honda/carstate.py
+2
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@@ -159,6 +159,8 @@ def get_can_signals(CP):
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
checks = []
return signals, checks
selfdrive/car/toyota/carcontroller.py
+18 -16
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@@ -120,9 +120,10 @@ class CarController():
# dragonpilot
self.turning_signal_timer = 0
self.dragon_enable_steering_on_signal = False
self.dragon_allow_gas = False
# self.dragon_allow_gas = False
self.dragon_lat_ctrl = True
self.dragon_lane_departure_warning = True
self.dragon_toyota_sng_mod = False
def update(self, enabled, CS, frame, actuators,
pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
@@ -130,9 +131,10 @@ class CarController():
# dragonpilot, don't check for param too often as it's a kernel call
if frame % 500 == 0:
self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
# self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
# *** compute control surfaces ***
@@ -191,7 +193,7 @@ class CarController():
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.standstill and not self.last_standstill:
if not self.dragon_toyota_sng_mod and CS.standstill and not self.last_standstill:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
@@ -244,19 +246,19 @@ class CarController():
elif ECU.APGS in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
# DragonAllowGas
# if we detect gas pedal pressed, we do not want OP to apply gas or brake
# gasPressed code from interface.py
if CS.CP.enableGasInterceptor:
# use interceptor values to disengage on pedal press
gasPressed = CS.pedal_gas > 15
else:
gasPressed = CS.pedal_gas > 0
if self.dragon_allow_gas and gasPressed:
apply_accel = 0
apply_gas = 0
# # DragonAllowGas
# # if we detect gas pedal pressed, we do not want OP to apply gas or brake
# # gasPressed code from interface.py
# if CS.CP.enableGasInterceptor:
# # use interceptor values to disengage on pedal press
# gas_pressed = CS.pedal_gas > 15
# else:
# gas_pressed = CS.pedal_gas > 0
#
# if self.dragon_allow_gas and gas_pressed:
# apply_accel = 0
# apply_gas = 0
#
# accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
lead = lead or CS.v_ego < 12. # at low speed we always assume the lead is present do ACC can be engaged
selfdrive/car/toyota/carstate.py
+2
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@@ -101,6 +101,8 @@ def get_can_parser(CP):
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
selfdrive/car/toyota/interface.py
+2 -2
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@@ -186,7 +186,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.COROLLA_TSS2:
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
@@ -196,7 +196,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ESH_TSS2:
elif candidate in [CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
selfdrive/car/toyota/values.py
+15 -6
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@@ -15,11 +15,13 @@ class CAR:
AVALON = "TOYOTA AVALON 2016"
RAV4_TSS2 = "TOYOTA RAV4 2019"
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
SIENNA = "TOYOTA SIENNA XLE 2018"
LEXUS_IS = "LEXUS IS300 2018"
LEXUS_CTH = "LEXUS CT 200H 2018"
LEXUS_ISH = "LEXUS IS300h 2017"
LEXUS_ES_TSS2 = "LEXUS ES200 2019"
class ECU:
@@ -198,9 +200,10 @@ FINGERPRINTS = {
{
# 2019 Taiwan Altis
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
},
}],
CAR.COROLLAH_TSS2: [
# 2019 Taiwan Altis Hybrid
{
# 2019 Taiwan Altis Hybrid (?)
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
}],
CAR.LEXUS_ESH_TSS2: [
@@ -226,7 +229,11 @@ FINGERPRINTS = {
},
{
36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}]
}],
CAR.LEXUS_ES_TSS2: [{
# 2019 Lexus ES200 from Shell
36: 8, 37: 8, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
}
STEER_THRESHOLD = 100
@@ -246,13 +253,15 @@ DBC = {
CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_adas'),
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
}
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA] # no resume button press required
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ES_TSS2] # no resume button press required
selfdrive/controls/controlsd.py
+26 -4
View File
@@ -512,7 +512,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
# FIXME: offroad alerts should not be created with negative severity
connectivity_alert = params.get("Offroad_ConnectivityNeeded", encoding='utf8')
internet_needed = connectivity_alert is not None and json.loads(connectivity_alert.replace("'", "\""))["severity"] >= 0
internet_needed = connectivity_alert is not None and json.loads(connectivity_alert)["severity"] >= 0
prof = Profiler(False) # off by default
@@ -521,6 +521,8 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
dragon_toyota_stock_dsu = False
dragon_lat_control = True
dragon_display_steering_limit_alert = True
dragon_stopped_has_lead_count = 0
dragon_lead_car_moving_alert = False
while True:
# dragonpilot, don't check for param too often as it's a kernel call
@@ -529,6 +531,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
ts_last_check = ts
start_time = sec_since_boot()
@@ -556,17 +559,36 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
if sm['plan'].radarCanError:
events.append(create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not CS.canValid:
events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if dragon_toyota_stock_dsu:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
else:
events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sounds_available:
events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
if internet_needed:
events.append(create_event('internetConnectivityNeeded', [ET.NO_ENTRY, ET.PERMANENT]))
# if internet_needed:
# events.append(create_event('internetConnectivityNeeded', [ET.NO_ENTRY, ET.PERMANENT]))
if not dragon_toyota_stock_dsu:
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if dragon_lead_car_moving_alert:
# when car has a lead and is standstill and lead is barely moving, we start counting
if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo < 0.05 and 0.3 >= abs(sm['plan'].vTarget) >= 0:
dragon_stopped_has_lead_count += 1
else:
dragon_stopped_has_lead_count = 0
# when we detect lead car over a sec and the lead car is started moving, we are ready to send alerts
# once the condition is triggered, we want to keep the trigger
if dragon_stopped_has_lead_count >= 50 and abs(sm['plan'].vTargetFuture) >= 0.1:
events.append(create_event('leadCarMoving', [ET.WARNING]))
# we remove alert once our car is moving
if CS.vEgo > 0.:
dragon_stopped_has_lead_count = 0
if not read_only:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
selfdrive/controls/lib/alerts.py
+6
View File
@@ -731,4 +731,10 @@ ALERTS = [
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
Alert(
"leadCarMoving",
"LEAD CAR IS MOVING",
"Resume Driving Manually",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
]
selfdrive/dragonpilot/dragonconf/__init__.py
+2
View File
@@ -49,6 +49,8 @@ default_conf = {
'DragonCarModel': '',
'DragonCarVIN': '',
'DragonEnableSlowOnCurve': '1',
'DragonEnableLeadCarMovingAlert': '0',
'DragonToyotaSnGMod': '0',
}
deprecated_conf = {