Merge branch 'dragonpilot-dev-en' of https://github.com/dragonpilot/dragonpilot-dev into dragonpilot-dev-zhs

cereal/car.capnp

@@ -76,6 +76,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     controlsFailed @51;
     sensorDataInvalid @52;
     commIssue @53;
+    manualSteeringRequired @54;
+    manualSteeringRequiredBlinkersOn @55;
   }
 }
 

common/params.py

@@ -84,6 +84,10 @@ keys = {
   "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT],
   "DragonDisableLogger": [TxType.PERSISTENT],
   "DragonNoctuaMode": [TxType.PERSISTENT],
+  "DragonCacheCar": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.PERSISTENT],
+  "DragonCachedFP": [TxType.PERSISTENT],
+  "DragonCachedVIN": [TxType.PERSISTENT],
 }
 
 

selfdrive/car/car_helpers.py

@@ -5,6 +5,9 @@ from common.fingerprints import eliminate_incompatible_cars, all_known_cars
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
+import pickle
+from common.params import Params
+params = Params()
 
 
 def get_startup_alert(car_recognized, controller_available):
@@ -79,58 +82,68 @@ def fingerprint(logcan, sendcan):
   vin = ""
 
   frame = 0
-  while True:
-    a = messaging.recv_one(logcan)
 
-    for can in a.can:
-      can_seen = True
+  if params.get("DragonCacheCar") == "1" and params.get("DragonCachedFP") != "" and params.get("DragonCachedModel") != "":
+    candidate_cars = [params.get("DragonCachedModel")]
+    finger = params.get("DragonCachedFP")
+    vin = params.get("DragonCachedVIN")
+  else:
+    while True:
+      a = messaging.recv_one(logcan)
 
-      # have we got a VIN query response?
-      if can.src == 0 and can.address == 0x7e8:
-        vin_never_responded = False
-        # basic sanity checks on ISO-TP response
-        if is_vin_response_valid(can.dat, vin_step, vin_cnt):
-          vin_dat += can.dat[2:] if vin_step == 0 else can.dat[1:]
-          vin_cnt += 1
-          if vin_cnt == vin_cnts[vin_step]:
-            vin_responded = True
-            vin_step += 1
+      for can in a.can:
+        can_seen = True
 
-      # ignore everything not on bus 0 and with more than 11 bits,
-      # which are ussually sporadic and hard to include in fingerprints.
-      # also exclude VIN query response on 0x7e8
-      if can.src == 0 and can.address < 0x800 and can.address != 0x7e8:
-        finger[can.address] = len(can.dat)
-        candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
+        # have we got a VIN query response?
+        if can.src == 0 and can.address == 0x7e8:
+          vin_never_responded = False
+          # basic sanity checks on ISO-TP response
+          if is_vin_response_valid(can.dat, vin_step, vin_cnt):
+            vin_dat += can.dat[2:] if vin_step == 0 else can.dat[1:]
+            vin_cnt += 1
+            if vin_cnt == vin_cnts[vin_step]:
+              vin_responded = True
+              vin_step += 1
 
-    if can_seen_frame is None and can_seen:
-      can_seen_frame = frame
+        # ignore everything not on bus 0 and with more than 11 bits,
+        # which are ussually sporadic and hard to include in fingerprints.
+        # also exclude VIN query response on 0x7e8
+        if can.src == 0 and can.address < 0x800 and can.address != 0x7e8:
+          finger[can.address] = len(can.dat)
+          candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
 
-    # if we only have one car choice and the time_fingerprint since we got our first
-    # message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
-    # broadcast immediately
-    if len(candidate_cars) == 1 and can_seen_frame is not None:
-      time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
-      if (frame - can_seen_frame) > (time_fingerprint * 100):
-        break
+      if can_seen_frame is None and can_seen:
+        can_seen_frame = frame
 
-    # bail if no cars left or we've been waiting for more than 2s since can_seen
-    elif len(candidate_cars) == 0 or (can_seen_frame is not None and (frame - can_seen_frame) > 200):
-      return None, finger, ""
+      # if we only have one car choice and the time_fingerprint since we got our first
+      # message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
+      # broadcast immediately
+      if len(candidate_cars) == 1 and can_seen_frame is not None:
+        time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
+        if (frame - can_seen_frame) > (time_fingerprint * 100):
+          break
 
-    # keep sending VIN qury if ECU isn't responsing.
-    # sendcan is probably not ready due to the zmq slow joiner syndrome
-    # TODO: VIN query temporarily disabled until we have the harness
-    if False and can_seen and (vin_never_responded or (vin_responded and vin_step < len(vin_cnts))):
-      sendcan.send(can_list_to_can_capnp([vin_query_msg[vin_step]], msgtype='sendcan'))
-      vin_responded = False
-      vin_cnt = 0
+      # bail if no cars left or we've been waiting for more than 2s since can_seen
+      elif len(candidate_cars) == 0 or (can_seen_frame is not None and (frame - can_seen_frame) > 200):
+        return None, finger, ""
 
-    frame += 1
+      # keep sending VIN qury if ECU isn't responsing.
+      # sendcan is probably not ready due to the zmq slow joiner syndrome
+      # TODO: VIN query temporarily disabled until we have the harness
+      if False and can_seen and (vin_never_responded or (vin_responded and vin_step < len(vin_cnts))):
+        sendcan.send(can_list_to_can_capnp([vin_query_msg[vin_step]], msgtype='sendcan'))
+        vin_responded = False
+        vin_cnt = 0
 
-  # only report vin if procedure is finished
-  if vin_step == len(vin_cnts) and vin_cnt == vin_cnts[-1]:
-    vin = "".join(vin_dat[3:])
+      frame += 1
+
+    # only report vin if procedure is finished
+    if vin_step == len(vin_cnts) and vin_cnt == vin_cnts[-1]:
+      vin = "".join(vin_dat[3:])
+
+    params.put("DragonCachedModel", pickle.dumps(candidate_cars))
+    params.put("DragonCachedFP", pickle.dumps(finger))
+    params.put("DragonCachedVIN", pickle.dumps(vin))
 
   cloudlog.warning("fingerprinted %s", candidate_cars[0])
   cloudlog.warning("VIN %s", vin)

selfdrive/car/honda/carcontroller.py

@@ -72,7 +72,7 @@ def process_hud_alert(hud_alert):
 
 HUDData = namedtuple("HUDData",
                      ["pcm_accel", "v_cruise", "mini_car", "car", "X4",
-                      "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required"])
+                      "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
 
 
 class CarController(object):
@@ -126,7 +126,7 @@ class CarController(object):
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
     hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
-                  0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
+                  0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required, CS.lkMode)
 
     # **** process the car messages ****
 
@@ -146,7 +146,7 @@ class CarController(object):
     apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
     apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
-    lkas_active = enabled and not CS.steer_not_allowed
+    lkas_active = enabled and not CS.steer_not_allowed and CS.lkMode
 
     # Send CAN commands.
     can_sends = []

selfdrive/car/honda/carstate.py

@@ -198,6 +198,8 @@ class CarState(object):
                          K=[[0.12287673], [0.29666309]])
     self.v_ego = 0.0
 
+    self.lkMode = True
+
   def update(self, cp, cp_cam):
 
     # car params
@@ -268,6 +270,13 @@ class CarState(object):
     self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
     self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
 
+    # when user presses LKAS button on steering wheel
+    if self.cruise_setting == 1:
+      if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
+        if self.lkMode:
+          self.lkMode = False
+        else:
+          self.lkMode = True
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
 

selfdrive/car/honda/hondacan.py

@@ -77,6 +77,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx):
     'SET_ME_X48': 0x48,
     'STEERING_REQUIRED': hud.steer_required,
     'SOLID_LANES': hud.lanes,
+    'DASHED_LANES': hud.dashed_lanes,
     'BEEP': hud.beep,
   }
   commands.append(packer.make_can_msg('LKAS_HUD', bus, lkas_hud_values, idx))

selfdrive/car/honda/interface.py

@@ -12,6 +12,8 @@ from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_p
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD, CAMERA_MSGS
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
+from common.params import Params
+params = Params()
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
 
@@ -473,7 +475,11 @@ class CarInterface(object):
     # wait 1.0s before throwing the alert to avoid it popping when you turn off the car
     if self.cp_cam.can_invalid_cnt >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH and self.CP.enableCamera:
       events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if self.CS.steer_error:
+    if not self.CS.lkMode:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on) and params.get("DragonTempDisableSteerOnSignal") == "1":
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif self.CS.steer_warning:
       events.append(create_event('steerTempUnavailable', [ET.WARNING]))

selfdrive/car/toyota/interface.py

@@ -8,7 +8,8 @@ from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.swaglog import cloudlog
-
+from common.params import Params
+params = Params()
 
 class CarInterface(object):
   def __init__(self, CP, CarController):
@@ -340,7 +341,9 @@ class CarInterface(object):
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if ret.gearShifter == 'reverse' and self.CP.enableDsu:
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
+    if (self.CS.left_blinker_on or self.CS.right_blinker_on) and params.get("DragonTempDisableSteerOnSignal") == "1":
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
     if self.CS.low_speed_lockout and self.CP.enableDsu:
       events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))

selfdrive/controls/lib/alerts.py

@@ -661,4 +661,18 @@ ALERTS = [
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
+
+  Alert(
+    "manualSteeringRequired",
+    "STEERING REQUIRED: Lane Keeping OFF",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+
+  Alert(
+    "manualSteeringRequiredBlinkersOn",
+    "STEERING REQUIRED: Blinkers ON",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
 ]

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -12,6 +12,10 @@ default_conf = {
   'DragonTempDisableSteerOnSignal': '0',
   'DragonDisableLogger': '0',
   'DragonNoctuaMode': '0',
+  'DragonCacheCar': '1',
+  'DragonCachedModel': '', # for cache car
+  'DragonCachedFP': '', # for cache car
+  'DragonCachedVIN': '', # for cache car
 }
 
 def dragonpilot_set_params(params):