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Merge branch 'devel' of https://github.com/commaai/openpilot into devel-lexus-ish-ave30r

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This commit is contained in:
Rick Lan
2019-05-14 12:30:46 +10:00
parent 91f0b5c6cd 127998ca8b
commit 42906ef1ae
17 changed files with 60 additions and 27 deletions
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Dockerfile.openpilot
+1
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@@ -21,6 +21,7 @@ RUN apt-get update && apt-get install -y \
ocl-icd-opencl-dev \
opencl-headers
RUN pip install --upgrade pip==18.0
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
COPY requirements_openpilot.txt /tmp/
README.md
+2 -2
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@@ -99,8 +99,8 @@ Supported Cars
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
RELEASES.md
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@@ -9,6 +9,8 @@ Version 0.5.11 (2019-04-17)
* Improve performance of visiond and ui
* Honda Passport 2019 support
* Lexus RX Hybrid 2019 support thanks to schomems!
* Improve road selection heuristic in mapd
* Add Lane Departure Warning to dashboard for Toyota thanks to arne182
Version 0.5.10 (2019-03-19)
========================
cereal/car.capnp
+2
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@@ -247,6 +247,8 @@ struct CarControl {
audibleAlert @5: AudibleAlert;
rightLaneVisible @6: Bool;
leftLaneVisible @7: Bool;
rightLaneDepart @8: Bool;
leftLaneDepart @9: Bool;
enum VisualAlert {
# these are the choices from the Honda
selfdrive/can/packer.py
+2 -1
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@@ -1,3 +1,4 @@
import six
import struct
from selfdrive.can.libdbc_py import libdbc, ffi
@@ -20,7 +21,7 @@ class CANPacker(object):
def pack(self, addr, values, counter):
values_thing = []
for name, value in values.items():
for name, value in six.iteritems(values):
if name not in self.sig_names:
self.sig_names[name] = ffi.new("char[]", name)
selfdrive/can/parser.py
+2 -1
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@@ -1,3 +1,4 @@
import six
import time
from collections import defaultdict
import numbers
@@ -58,7 +59,7 @@ class CANParser(object):
{
'address': msg_address,
'check_frequency': freq,
} for msg_address, freq in message_options.items()])
} for msg_address, freq in six.iteritems(message_options)])
self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c,
len(signal_options_c), signal_options_c, sendcan, tcp_addr)
selfdrive/can/process_dbc.py
+3 -3
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@@ -2,7 +2,7 @@
import os
import glob
import sys
import six
import jinja2
from collections import Counter
@@ -39,10 +39,10 @@ def main():
continue #skip output is newer than template and dbc
msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
for address, ((msg_name, msg_size), msg_sigs) in sorted(six.iteritems(can_dbc.msgs)) if msg_sigs]
def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
def_vals = [(address, sig) for address, sig in sorted(def_vals.items())]
def_vals = [(address, sig) for address, sig in sorted(six.iteritems(def_vals))]
if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
checksum_type = "honda"
selfdrive/car/gm/interface.py
+1 -1
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@@ -218,7 +218,7 @@ class CarInterface(object):
ret.gasPressed = self.CS.user_gas_pressed
# brake pedal
ret.brake = self.CS.user_brake // 0xd0
ret.brake = self.CS.user_brake / 0xd0
ret.brakePressed = self.CS.brake_pressed
# steering wheel
selfdrive/car/honda/carcontroller.py
+4 -4
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@@ -12,9 +12,9 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
# hyst params
brake_hyst_on = 0.02 # to activate brakes exceed this value
brake_hyst_off = 0.005 # to deactivate brakes below this value
brake_hyst_gap = 0.01 # don't change brake command for small ocilalitons within this value
brake_hyst_gap = 0.01 # don't change brake command for small oscillations within this value
#*** histeresis logic to avoid brake blinking. go above 0.1 to trigger
#*** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
brake = 0.
braking = brake > 0.
@@ -34,7 +34,7 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
return brake, braking, brake_steady
def brake_pump_hysteresys(apply_brake, apply_brake_last, last_pump_ts):
def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts):
ts = sec_since_boot()
pump_on = False
@@ -174,7 +174,7 @@ class CarController(object):
# Send gas and brake commands.
if (frame % 2) == 0:
idx = frame // 2
pump_on, self.last_pump_ts = brake_pump_hysteresys(apply_brake, self.apply_brake_last, self.last_pump_ts)
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts)
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx))
self.apply_brake_last = apply_brake
selfdrive/car/toyota/carcontroller.py
+3 -2
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@@ -125,7 +125,8 @@ class CarController(object):
self.packer = CANPacker(dbc_name)
def update(self, sendcan, enabled, CS, frame, actuators,
pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera, left_line, right_line, lead):
pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera,
left_line, right_line, lead, left_lane_depart, right_lane_depart):
# *** compute control surfaces ***
@@ -246,7 +247,7 @@ class CarController(object):
send_ui = False
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
can_sends.append(create_ui_command(self.packer, steer, sound1, sound2, left_line, right_line))
can_sends.append(create_ui_command(self.packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart))
if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
can_sends.append(create_fcw_command(self.packer, fcw))
selfdrive/car/toyota/interface.py
+2 -1
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@@ -379,7 +379,8 @@ class CarInterface(object):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
c.hudControl.audibleAlert, self.forwarding_camera,
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leadVisible)
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
self.frame += 1
return False
selfdrive/car/toyota/toyotacan.py
+4 -3
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@@ -89,10 +89,11 @@ def create_fcw_command(packer, fcw):
return packer.make_can_msg("ACC_HUD", 0, values)
def create_ui_command(packer, steer, sound1, sound2, left_line, right_line):
def create_ui_command(packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart):
values = {
"RIGHT_LINE": 1 if right_line else 2,
"LEFT_LINE": 1 if left_line else 2,
"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
"BARRIERS" : 3 if left_lane_depart or right_lane_depart else 0,
"SET_ME_X0C": 0x0c,
"SET_ME_X2C": 0x2c,
"SET_ME_X38": 0x38,
selfdrive/controls/controlsd.py
+16 -2
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@@ -11,6 +11,7 @@ import selfdrive.messaging as messaging
from selfdrive.config import Conversions as CV
from selfdrive.services import service_list
from selfdrive.car.car_helpers import get_car
from selfdrive.controls.lib.model_parser import CAMERA_OFFSET
from selfdrive.controls.lib.drive_helpers import learn_angle_model_bias, \
get_events, \
create_event, \
@@ -305,8 +306,21 @@ def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruis
CC.hudControl.speedVisible = isEnabled(state)
CC.hudControl.lanesVisible = isEnabled(state)
CC.hudControl.leadVisible = plan.hasLead
CC.hudControl.rightLaneVisible = bool(path_plan.pathPlan.rProb > 0.5)
CC.hudControl.leftLaneVisible = bool(path_plan.pathPlan.lProb > 0.5)
right_lane_visible = path_plan.pathPlan.rProb > 0.5
left_lane_visible = path_plan.pathPlan.lProb > 0.5
CC.hudControl.rightLaneVisible = bool(right_lane_visible)
CC.hudControl.leftLaneVisible = bool(left_lane_visible)
blinker = CS.leftBlinker or CS.rightBlinker
ldw_allowed = CS.vEgo > 12.5 and not blinker
if len(list(path_plan.pathPlan.rPoly)) == 4:
CC.hudControl.rightLaneDepart = bool(ldw_allowed and path_plan.pathPlan.rPoly[3] > -(1 + CAMERA_OFFSET) and right_lane_visible)
if len(list(path_plan.pathPlan.lPoly)) == 4:
CC.hudControl.leftLaneDepart = bool(ldw_allowed and path_plan.pathPlan.lPoly[3] < (1 - CAMERA_OFFSET) and left_lane_visible)
CC.hudControl.visualAlert = AM.visual_alert
CC.hudControl.audibleAlert = AM.audible_alert
selfdrive/controls/lib/driver_monitor.py
+2 -2
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@@ -51,7 +51,7 @@ class _DriverPose():
self.pitch_offset = 0.
def _monitor_hysteresys(variance_level, monitor_valid_prev):
def _monitor_hysteresis(variance_level, monitor_valid_prev):
var_thr = 0.63 if monitor_valid_prev else 0.37
return variance_level < var_thr
@@ -124,7 +124,7 @@ class DriverStatus():
self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
self.ts_last_check = ts
self.monitor_valid = _monitor_hysteresys(self.variance_filter.x, monitor_valid_prev)
self.monitor_valid = _monitor_hysteresis(self.variance_filter.x, monitor_valid_prev)
self.monitor_on = self.monitor_valid and self.monitor_param_on
if monitor_param_on_prev != self.monitor_param_on:
self._reset_filters()
selfdrive/controls/lib/pathplanner.py
+4 -1
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@@ -20,7 +20,10 @@ def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_
class PathPlanner(object):
def __init__(self, CP):
self.MP = ModelParser()
self.l_poly = [0., 0., 0., 0.]
self.r_poly = [0., 0., 0., 0.]
self.last_cloudlog_t = 0
context = zmq.Context()
selfdrive/mapd/default_speeds_generator.py
+3 -2
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@@ -1,5 +1,6 @@
#!/usr/bin/env python
import json
import six
DEFAULT_OUTPUT_FILENAME = "default_speeds_by_region.json"
@@ -145,7 +146,7 @@ def main(filename = DEFAULT_OUTPUT_FILENAME):
DE.add_rule({"zone:maxspeed": "DE:rural"}, "100")
DE.add_rule({"zone:maxspeed": "DE:motorway"}, "none")
DE.add_rule({"bicycle_road": "yes"}, "30")
""" --- DO NOT MODIFY CODE BELOW THIS LINE --- """
""" --- ADD YOUR COUNTRY OR STATE ABOVE --- """
@@ -205,7 +206,7 @@ class Country(Region):
def jsonify(self):
ret_dict = {}
ret_dict[self.name] = {}
for r_name, region in self.regions.items():
for r_name, region in six.iteritems(self.regions):
ret_dict[self.name].update(region.jsonify())
ret_dict[self.name]['Default'] = self.rules
return ret_dict
selfdrive/mapd/mapd_helpers.py
+7 -2
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@@ -1,3 +1,4 @@
import six
import math
import json
import numpy as np
@@ -91,7 +92,7 @@ def geocode_maxspeed(tags, location_info):
rule_valid = all(
tag_name in tags
and tags[tag_name] == value
for tag_name, value in rule['tags'].items()
for tag_name, value in six.iteritems(rule['tags'])
)
if rule_valid:
max_speed = rule['speed']
@@ -102,7 +103,7 @@ def geocode_maxspeed(tags, location_info):
rule_valid = all(
tag_name in tags
and tags[tag_name] == value
for tag_name, value in rule['tags'].items()
for tag_name, value in six.iteritems(rule['tags'])
)
if rule_valid:
max_speed = rule['speed']
@@ -191,6 +192,10 @@ class Way:
closest_way = way
best_score = score
# Normal score is < 5
if best_score > 50:
return None
return closest_way
def __str__(self):