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openpilot v0.4.0.1 release

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This commit is contained in:
Vehicle Researcher
2017-12-23 17:15:27 -08:00
parent ef1227777f
commit 68ffef7ae8
69 changed files with 10303 additions and 2840 deletions
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common/basedir.py
+1 -1
View File
@@ -1,4 +1,4 @@
import os
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
common/fingerprints.py
+3
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@@ -19,6 +19,9 @@ _FINGERPRINTS = {
"TOYOTA RAV4 2017": {
36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
},
"TOYOTA RAV4 2017 HYBRID": {
36L: 8, 37L: 8, 170L: 8, 180L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 581L: 5, 608L: 8, 610L: 5, 643L: 7, 713L: 8, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 3, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1184L: 8, 1185L: 8, 1186L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1197L: 8, 1198L: 8, 1199L: 8, 1212L: 8, 1227L: 8, 1232L: 8, 1235L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8
},
"TOYOTA PRIUS 2017": {
36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
},
common/kalman/ekf.py
+3 -3
View File
@@ -35,7 +35,7 @@ class SensorReading:
# A generic sensor class that does no pre-processing of data
class SimpleSensor:
# obs_model can be
# a full obesrvation model matrix, or
# a full observation model matrix, or
# an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
# covar can be
# a full covariance matrix
@@ -129,7 +129,7 @@ class EKF:
print "covar:\n",self.covar
def update_scalar(self, reading):
# like update but knowing that measurment is a scalar
# like update but knowing that measurement is a scalar
# this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
# innovation = reading.data - np.matmul(reading.obs_model, self.state)
@@ -188,7 +188,7 @@ class EKF:
Current implementations calculate A and J as functions of state. Control input
can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
and using it during calcualtion of A and J
and using it during calculation of A and J
"""
common/params.py
+3
View File
@@ -52,12 +52,14 @@ keys = {
"Version": TxType.PERSISTANT,
"GitCommit": TxType.PERSISTANT,
"GitBranch": TxType.PERSISTANT,
"GitRemote": TxType.PERSISTANT,
# written: baseui
# read: ui, controls
"IsMetric": TxType.PERSISTANT,
"IsRearViewMirror": TxType.PERSISTANT,
"IsFcwEnabled": TxType.PERSISTANT,
"HasAcceptedTerms": TxType.PERSISTANT,
"IsUploadVideoOverCellularEnabled": TxType.PERSISTANT,
# written: visiond
# read: visiond, controlsd
"CalibrationParams": TxType.PERSISTANT,
@@ -69,6 +71,7 @@ keys = {
"CarParams": TxType.CLEAR_ON_CAR_START,
"Passive": TxType.PERSISTANT,
"DoUninstall": TxType.CLEAR_ON_MANAGER_START,
}
def fsync_dir(path):
common/profiler.py
+32 -17
View File
@@ -1,32 +1,47 @@
from common.realtime import sec_since_boot
import time
class Profiler(object):
def __init__(self, enabled=False):
self.enabled = enabled
self.cp = []
self.start_time = sec_since_boot()
self.cp = {}
self.cp_ignored = []
self.iter = 0
self.start_time = time.clock()
self.last_time = self.start_time
def checkpoint(self, name):
if not self.enabled:
return
tt = sec_since_boot()
self.cp.append((name, tt - self.last_time))
self.last_time = tt
self.tot = 0.
def reset(self, enabled=False):
self.enabled = enabled
self.cp = []
self.start_time = sec_since_boot()
self.cp = {}
self.cp_ignored = []
self.iter = 0
self.start_time = time.clock()
self.last_time = self.start_time
def checkpoint(self, name, ignore=False):
# ignore flag needed when benchmarking threads with ratekeeper
if not self.enabled:
return
tt = time.clock()
if name not in self.cp:
self.cp[name] = 0.
if ignore:
self.cp_ignored.append(name)
self.cp[name] += tt - self.last_time
if not ignore:
self.tot += tt - self.last_time
self.last_time = tt
def display(self):
if not self.enabled:
return
self.iter += 1
print "******* Profiling *******"
tot = 0.0
for n, ms in self.cp:
print "%30s: %7.2f" % (n, ms*1000.0)
tot += ms
print " TOTAL: %7.2f" % (tot*1000.0)
for n in self.cp:
ms = self.cp[n]
if n in self.cp_ignored:
print "%30s: %7.2f perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100), " IGNORED"
else:
print "%30s: %7.2f perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100)
print "Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot)