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openpilot v0.4.4 release

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This commit is contained in:
Vehicle Researcher
2018-04-14 06:10:58 +00:00
parent 2da8c42a82
commit 624abefdb0
30 changed files with 177 additions and 106 deletions
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README.md
+1 -1
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@@ -12,7 +12,7 @@ Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://ww
Hardware
------
Right now openpilot supports the [NEO research platform](http://github.com/commaai/neo) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
Right now openpilot supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
RELEASES.md
+10
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@@ -1,3 +1,13 @@
Version 0.4.4 (2018-04-13)
==========================
* EON are flipped! Flip your EON's mount!
* Alpha Honda Ridgeline support thanks to energee!
* Support optional front camera recording
* Upload over cellular toggle now applies to all files, not just video
* Increase acceleration when closing lead gap
* User now prompted for future updates
* NEO no longer supported :(
Version 0.4.3.2 (2018-03-29)
============================
* Improve autofocus
cereal/car.capnp
+3
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@@ -55,6 +55,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
manualRestart @30;
lowSpeedLockout @31;
plannerError @32;
ipasOverride @33;
debugAlert @34;
}
}
@@ -192,6 +194,7 @@ struct RadarState {
struct CarControl {
# must be true for any actuator commands to work
enabled @0 :Bool;
active @7 :Bool;
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
cereal/log.capnp
+3
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@@ -485,6 +485,7 @@ struct EncodeIndex {
bigBoxHEVC @2; # bcamera.hevc
chffrAndroidH264 @3; # acamera
fullLosslessClip @4; # prcamera.mkv
front @5; # dcamera.hevc
}
}
@@ -542,6 +543,7 @@ struct Plan {
cruise @0;
mpc1 @1;
mpc2 @2;
mpc3 @3;
}
}
@@ -1376,6 +1378,7 @@ struct GPSPlannerPlan {
acceleration @4 :Float32;
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
points @6 :List(ECEFPoint);
xLookahead @7 :Float32;
}
struct TrafficEvent @0xacfa74a094e62626 {
cereal/mapd.capnp
+1 -1
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@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
using Java = import "java.capnp";
$Java.package("ai.comma.openpilot.cereal");
$Java.outerClassname("Log");
$Java.outerClassname("Map");
using Log = import "log.capnp";
common/fingerprints.py
+6
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@@ -15,6 +15,9 @@ class TOYOTA:
COROLLA = "TOYOTA COROLLA 2017"
LEXUS_RXH = "LEXUS RX HYBRID 2017"
class GM:
VOLT = "CHEVROLET VOLT PREMIER 2017"
_DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes
_FINGERPRINTS = {
@@ -76,6 +79,9 @@ _FINGERPRINTS = {
TOYOTA.LEXUS_RXH: [{
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
}],
GM.VOLT: [{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
}],
}
# support additional internal only fingerprints
common/params.py
+2
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@@ -74,6 +74,8 @@ keys = {
"DoUninstall": TxType.CLEAR_ON_MANAGER_START,
"ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
"IsUpdateAvailable": TxType.PERSISTANT,
"RecordFront": TxType.PERSISTANT,
}
def fsync_dir(path):
selfdrive/car/__init__.py
+22 -33
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@@ -5,41 +5,26 @@ from common.fingerprints import eliminate_incompatible_cars, all_known_cars
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
from selfdrive.car.honda.interface import CarInterface as HondaInterface
from selfdrive.car.toyota.interface import CarInterface as ToyotaInterface
from selfdrive.car.mock.interface import CarInterface as MockInterface
from common.fingerprints import HONDA, TOYOTA
from common.fingerprints import HONDA, TOYOTA, GM
try:
from .simulator.interface import CarInterface as SimInterface
except ImportError:
SimInterface = None
def load_interfaces(x):
ret = {}
for interface in x:
try:
imp = __import__('selfdrive.car.%s.interface' % interface, fromlist=['CarInterface']).CarInterface
except ImportError:
imp = None
for car in x[interface]:
ret[car] = imp
return ret
try:
from .simulator2.interface import CarInterface as Sim2Interface
except ImportError:
Sim2Interface = None
interfaces = {
HONDA.CIVIC: HondaInterface,
HONDA.ACURA_ILX: HondaInterface,
HONDA.CRV: HondaInterface,
HONDA.ODYSSEY: HondaInterface,
HONDA.ACURA_RDX: HondaInterface,
HONDA.PILOT: HondaInterface,
HONDA.RIDGELINE: HondaInterface,
TOYOTA.PRIUS: ToyotaInterface,
TOYOTA.RAV4: ToyotaInterface,
TOYOTA.RAV4H: ToyotaInterface,
TOYOTA.COROLLA: ToyotaInterface,
TOYOTA.LEXUS_RXH: ToyotaInterface,
"simulator2": Sim2Interface,
"mock": MockInterface
}
# imports from directory selfdrive/car/<name>/
interfaces = load_interfaces({
'honda': [HONDA.CIVIC, HONDA.ACURA_ILX, HONDA.CRV, HONDA.ODYSSEY, HONDA.ACURA_RDX, HONDA.PILOT, HONDA.RIDGELINE],
'toyota': [TOYOTA.PRIUS, TOYOTA.RAV4, TOYOTA.RAV4H, TOYOTA.COROLLA, TOYOTA.LEXUS_RXH],
'gm': [GM.VOLT],
'simulator2': ['simulator2'],
'mock': ['mock']})
# **** for use live only ****
def fingerprint(logcan, timeout):
@@ -92,6 +77,10 @@ def get_car(logcan, sendcan=None, passive=True):
return None, None
interface_cls = interfaces[candidate]
if interface_cls is None:
cloudlog.warning("car matched %s, but interface wasn't available" % candidate)
return None, None
params = interface_cls.get_params(candidate, fingerprints)
return interface_cls(params, sendcan), params
selfdrive/car/toyota/carcontroller.py
+7 -7
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@@ -157,9 +157,9 @@ class CarController(object):
# windup slower
if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
angle_rate_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_DELTA_V)
angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_V)
else:
angle_rate_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_DELTA_VU)
angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
else:
@@ -195,11 +195,11 @@ class CarController(object):
else:
can_sends.append(create_steer_command(self.packer, apply_steer, frame))
if ECU.APGS in self.fake_ecus:
if self.angle_control:
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled))
else:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0))
if self.angle_control:
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
ECU.APGS in self.fake_ecus))
elif ECU.APGS in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
# 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):
selfdrive/car/toyota/carstate.py
+17 -12
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@@ -36,17 +36,6 @@ def parse_gear_shifter(can_gear, car_fingerprint):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.PRIUS:
dbc_f = 'toyota_prius_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.RAV4H:
dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.RAV4:
dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.COROLLA:
dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.LEXUS_RXH:
dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc'
signals = [
# sig_name, sig_address, default
@@ -91,6 +80,19 @@ def get_can_parser(CP):
("EPS_STATUS", 25),
]
# this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.PRIUS:
dbc_f = 'toyota_prius_2017_pt_generated.dbc'
signals += [("STATE", "AUTOPARK_STATUS", 0)]
elif CP.carFingerprint == CAR.RAV4H:
dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.RAV4:
dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.COROLLA:
dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.LEXUS_RXH:
dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc'
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 0)
@@ -172,4 +174,7 @@ class CarState(object):
self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
if self.CP.carFingerprint == CAR.PRIUS:
self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
else:
self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
selfdrive/car/toyota/toyotacan.py
+5 -2
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@@ -28,7 +28,7 @@ def create_video_target(frame, addr):
return make_can_msg(addr, msg, 1, True)
def create_ipas_steer_command(packer, steer, enabled):
def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
"""Creates a CAN message for the Toyota Steer Command."""
if steer < 0:
direction = 3
@@ -46,7 +46,10 @@ def create_ipas_steer_command(packer, steer, enabled):
"SET_ME_X10": 0x10,
"SET_ME_X40": 0x40
}
return packer.make_can_msg("STEERING_IPAS", 0, values)
if apgs_enabled:
return packer.make_can_msg("STEERING_IPAS", 0, values)
else:
return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)
def create_steer_command(packer, steer, raw_cnt):
selfdrive/common/framebuffer.cc
+2 -2
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@@ -56,8 +56,8 @@ extern "C" FramebufferState* framebuffer_init(
status = SurfaceComposerClient::getDisplayInfo(s->dtoken, &s->dinfo);
assert(status == 0);
int orientation = 3; // rotate framebuffer 270 degrees
//int orientation = 1; // rotate framebuffer 90 degrees
//int orientation = 3; // rotate framebuffer 270 degrees
int orientation = 1; // rotate framebuffer 90 degrees
if(orientation == 1 || orientation == 3) {
int temp = s->dinfo.h;
s->dinfo.h = s->dinfo.w;
selfdrive/common/version.h
+1 -1
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@@ -1 +1 @@
#define COMMA_VERSION "0.4.3.2-release"
#define COMMA_VERSION "0.4.4-release"
selfdrive/common/visionipc.c
+31 -1
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@@ -193,6 +193,21 @@ int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, Visi
return 0;
}
void visionstream_release(VisionStream *s) {
int err;
if (s->last_idx >= 0) {
VisionPacket rep = {
.type = VIPC_STREAM_RELEASE,
.d = { .stream_rel = {
.type = s->last_type,
.idx = s->last_idx,
}}
};
err = vipc_send(s->ipc_fd, &rep);
s->last_idx = -1;
}
}
VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
int err;
@@ -207,7 +222,7 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
VisionPacket rep = {
.type = VIPC_STREAM_RELEASE,
.d = { .stream_rel = {
.type = rp.d.stream_acq.type,
.type = s->last_type,
.idx = s->last_idx,
}}
};
@@ -217,6 +232,7 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
}
}
s->last_type = rp.d.stream_acq.type;
s->last_idx = rp.d.stream_acq.idx;
assert(s->last_idx < s->num_bufs);
@@ -228,6 +244,20 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
}
void visionstream_destroy(VisionStream *s) {
int err;
if (s->last_idx >= 0) {
VisionPacket rep = {
.type = VIPC_STREAM_RELEASE,
.d = { .stream_rel = {
.type = s->last_type,
.idx = s->last_idx,
}}
};
err = vipc_send(s->ipc_fd, &rep);
s->last_idx = -1;
}
for (int i=0; i<s->num_bufs; i++) {
if (s->bufs[i].addr) {
munmap(s->bufs[i].addr, s->bufs[i].len);
selfdrive/common/visionipc.h
+3
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@@ -24,6 +24,7 @@ typedef enum VisionStreamType {
VISION_STREAM_UI_BACK,
VISION_STREAM_UI_FRONT,
VISION_STREAM_YUV,
VISION_STREAM_YUV_FRONT,
VISION_STREAM_MAX,
} VisionStreamType;
@@ -94,12 +95,14 @@ void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
typedef struct VisionStream {
int ipc_fd;
int last_idx;
int last_type;
int num_bufs;
VisionStreamBufs bufs_info;
VIPCBuf *bufs;
} VisionStream;
int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
void visionstream_release(VisionStream *s);
VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
void visionstream_destroy(VisionStream *s);
selfdrive/controls/lib/alertmanager.py
+1 -1
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@@ -101,8 +101,8 @@ class AlertManager(object):
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
"startup": Alert(
"Always keep hands on wheel",
"Be ready to take over at any time",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, None, None, 0., 0., 15.),
selfdrive/controls/lib/longitudinal_mpc/generator.cpp
+5 -5
View File
@@ -39,9 +39,9 @@ int main( )
// Running cost
Function h;
h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired));
h << (d_l - desired) / (0.1 * v_ego + 0.5);
h << a_ego * (1.0 + v_ego / 10.0);
h << j_ego * (1.0 + v_ego / 10.0);
h << (d_l - desired) / (0.05 * v_ego + 0.5);
h << a_ego * (0.1 * v_ego + 1.0);
h << j_ego * (0.1 * v_ego + 1.0);
// Weights are defined in mpc.
BMatrix Q(4,4); Q.setAll(true);
@@ -49,8 +49,8 @@ int main( )
// Terminal cost
Function hN;
hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired));
hN << (d_l - desired) / (0.1 * v_ego + 0.5);
hN << a_ego * (1.0 + v_ego / 10.0);
hN << (d_l - desired) / (0.05 * v_ego + 0.5);
hN << a_ego * (0.1 * v_ego + 1.0);
// Weights are defined in mpc.
BMatrix QN(3,3); QN.setAll(true);
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_common.h
+2 -2
View File
@@ -181,8 +181,8 @@ real_t evGx[ 720 ];
/** Column vector of size: 120 */
real_t evGu[ 120 ];
/** Column vector of size: 32 */
real_t objAuxVar[ 32 ];
/** Column vector of size: 30 */
real_t objAuxVar[ 30 ];
/** Row vector of size: 8 */
real_t objValueIn[ 8 ];
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_solver.c
+17 -20
View File
@@ -107,7 +107,7 @@ void acado_evaluateLSQ(const real_t* in, real_t* out)
{
const real_t* xd = in;
const real_t* u = in + 6;
/* Vector of auxiliary variables; number of elements: 32. */
/* Vector of auxiliary variables; number of elements: 30. */
real_t* a = acadoWorkspace.objAuxVar;
/* Compute intermediate quantities: */
@@ -137,18 +137,16 @@ a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-(
a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
a[24] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]);
a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(5.0000000000000000e-01)));
a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
a[27] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
a[28] = (a[26]*a[26]);
a[29] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
a[30] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.0000000000000000e+01));
a[31] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.0000000000000000e+01));
/* Compute outputs: */
out[0] = (a[1]-a[3]);
out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(5.0000000000000000e-01)));
out[2] = (xd[2]*((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01))));
out[3] = (u[0]*((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01))));
out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
out[3] = (u[0]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
out[4] = a[6];
out[5] = (a[11]-a[19]);
out[6] = (real_t)(0.0000000000000000e+00);
@@ -156,19 +154,19 @@ out[7] = a[20];
out[8] = (a[22]-a[25]);
out[9] = (real_t)(0.0000000000000000e+00);
out[10] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[26]);
out[11] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(1.0000000000000001e-01))*a[28]));
out[11] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28]));
out[12] = (real_t)(0.0000000000000000e+00);
out[13] = a[26];
out[14] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[29])))*a[26]);
out[15] = (real_t)(0.0000000000000000e+00);
out[16] = (real_t)(0.0000000000000000e+00);
out[17] = (xd[2]*a[30]);
out[18] = ((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01)));
out[17] = (xd[2]*(real_t)(1.0000000000000001e-01));
out[18] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
out[19] = (real_t)(0.0000000000000000e+00);
out[20] = (real_t)(0.0000000000000000e+00);
out[21] = (real_t)(0.0000000000000000e+00);
out[22] = (real_t)(0.0000000000000000e+00);
out[23] = (u[0]*a[31]);
out[23] = (u[0]*(real_t)(1.0000000000000001e-01));
out[24] = (real_t)(0.0000000000000000e+00);
out[25] = (real_t)(0.0000000000000000e+00);
out[26] = (real_t)(0.0000000000000000e+00);
@@ -176,13 +174,13 @@ out[27] = (real_t)(0.0000000000000000e+00);
out[28] = (real_t)(0.0000000000000000e+00);
out[29] = (real_t)(0.0000000000000000e+00);
out[30] = (real_t)(0.0000000000000000e+00);
out[31] = ((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01)));
out[31] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
}
void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
{
const real_t* xd = in;
/* Vector of auxiliary variables; number of elements: 31. */
/* Vector of auxiliary variables; number of elements: 30. */
real_t* a = acadoWorkspace.objAuxVar;
/* Compute intermediate quantities: */
@@ -212,16 +210,15 @@ a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-(
a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
a[24] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]);
a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(5.0000000000000000e-01)));
a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
a[27] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
a[28] = (a[26]*a[26]);
a[29] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
a[30] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.0000000000000000e+01));
/* Compute outputs: */
out[0] = (a[1]-a[3]);
out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(5.0000000000000000e-01)));
out[2] = (xd[2]*((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01))));
out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
out[3] = a[6];
out[4] = (a[11]-a[19]);
out[5] = (real_t)(0.0000000000000000e+00);
@@ -229,14 +226,14 @@ out[6] = a[20];
out[7] = (a[22]-a[25]);
out[8] = (real_t)(0.0000000000000000e+00);
out[9] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[26]);
out[10] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(1.0000000000000001e-01))*a[28]));
out[10] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28]));
out[11] = (real_t)(0.0000000000000000e+00);
out[12] = a[26];
out[13] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[29])))*a[26]);
out[14] = (real_t)(0.0000000000000000e+00);
out[15] = (real_t)(0.0000000000000000e+00);
out[16] = (xd[2]*a[30]);
out[17] = ((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01)));
out[16] = (xd[2]*(real_t)(1.0000000000000001e-01));
out[17] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
out[18] = (real_t)(0.0000000000000000e+00);
out[19] = (real_t)(0.0000000000000000e+00);
out[20] = (real_t)(0.0000000000000000e+00);
selfdrive/loggerd/loggerd
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selfdrive/loggerd/uploader.py
+7 -3
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@@ -155,7 +155,7 @@ class Uploader(object):
self.last_resp = FakeResponse()
else:
with open(fn, "rb") as f:
self.last_resp = requests.put(url, data=f, headers=headers)
self.last_resp = requests.put(url, data=f, headers=headers, timeout=10)
except Exception as e:
self.last_exc = (e, traceback.format_exc())
raise
@@ -251,12 +251,16 @@ def uploader_fn(exit_event):
backoff = 0.1
while True:
upload_video = (params.get("IsUploadVideoOverCellularEnabled") != "0") or is_on_wifi()
should_upload = (params.get("IsUploadVideoOverCellularEnabled") != "0") or is_on_wifi()
if exit_event.is_set():
return
d = uploader.next_file_to_upload(upload_video)
if not should_upload:
time.sleep(5)
continue
d = uploader.next_file_to_upload(with_video=True)
if d is None:
time.sleep(5)
continue
selfdrive/manager.py
+5
View File
@@ -609,6 +609,9 @@ def uninstall():
os.system("service call power 16 i32 0 s16 recovery i32 1")
def main():
# the flippening!
os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
if os.getenv("NOLOG") is not None:
del managed_processes['loggerd']
del managed_processes['tombstoned']
@@ -640,6 +643,8 @@ def main():
# set unset params
if params.get("IsMetric") is None:
params.put("IsMetric", "0")
if params.get("RecordFront") is None:
params.put("RecordFront", "0")
if params.get("IsRearViewMirror") is None:
params.put("IsRearViewMirror", "0")
if params.get("IsFcwEnabled") is None:
selfdrive/sensord/gpsd
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selfdrive/sensord/sensord
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selfdrive/service_list.yaml
+1
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@@ -67,6 +67,7 @@ orbOdometry: [8057, true]
orbFeatures: [8058, true]
orbKeyFrame: [8059, true]
uiLayoutState: [8060, true]
frontEncodeIdx: [8061, true]
testModel: [8040, false]
testLiveLocation: [8045, false]
selfdrive/test/tests/plant/test_longitudinal.py
+10
View File
@@ -94,6 +94,16 @@ maneuvers = [
speed_lead_breakpoints = [0., 15., 25.0],
cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
duration=50.,
initial_speed = 20.,
lead_relevancy=True,
initial_distance_lead=35.,
speed_lead_values = [20., 20., 0.],
speed_lead_breakpoints = [0., 15., 21.66],
cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
),
Maneuver(
'starting at 0mph, approaching a stopped car 100m away',
duration=30.,
selfdrive/ui/spinner/spinner
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selfdrive/ui/ui.c
+7 -7
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@@ -762,7 +762,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
if (!started) {
nvgMoveTo(s->vg, x, y);
track_start_x = x;
track_start_y = y;
track_start_y = vwp_h;
started = true;
} else {
nvgLineTo(s->vg, x, y);
@@ -770,7 +770,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
}
// right side down
for (int i=path_height; i>0; i--) {
for (int i=path_height-1; i>0; i--) {
float px, py;
if (is_mpc) {
px = mpc_x_coords[i];
@@ -790,7 +790,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
if (!started) {
nvgMoveTo(s->vg, x, y);
track_end_y = y;
track_end_y = vwp_h;
track_end_x = x;
started = true;
} else {
@@ -833,10 +833,10 @@ static void draw_frame(UIState *s) {
if (s->scene.frontview) {
out_mat = device_transform; // full 16/9
// flip horizontally so it looks like a mirror
x2 = (float)scene->front_box_x / s->rgb_front_width;
x1 = (float)(scene->front_box_x + scene->front_box_width) / s->rgb_front_width;
y1 = (float)scene->front_box_y / s->rgb_front_height;
y2 = (float)(scene->front_box_y + scene->front_box_height) / s->rgb_front_height;
x1 = (float)scene->front_box_x / s->rgb_front_width;
x2 = (float)(scene->front_box_x + scene->front_box_width) / s->rgb_front_width;
y2 = (float)scene->front_box_y / s->rgb_front_height;
y1 = (float)(scene->front_box_y + scene->front_box_height) / s->rgb_front_height;
} else {
out_mat = matmul(device_transform, frame_transform);
x1 = 1.0;
selfdrive/version.py
+8 -8
View File
@@ -5,14 +5,14 @@ with open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "common", "ve
try:
origin = subprocess.check_output(["git", "config", "--get", "remote.origin.url"])
if "-private" in origin:
upstream = "origin/master"
else:
if 'chffrplus' in origin:
upstream = "origin/release"
if origin.startswith('git@github.com:commaai'):
if origin.endswith('/one.git'):
dirty = True
else:
upstream = "origin/release2"
dirty = subprocess.call(["git", "diff-index", "--quiet", upstream, "--"]) != 0
branch = subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"]).rstrip()
branch = 'origin/' + branch
dirty = subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0
else:
dirty = True
except subprocess.CalledProcessError:
dirty = True
selfdrive/visiond/visiond
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