openpilot v0.6 release

common/fingerprints.py

@@ -4,7 +4,7 @@ from common.basedir import BASEDIR
 def get_fingerprint_list():
   # read all the folders in selfdrive/car and return a dict where:
   # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique 
+  # - values are lists dicts of messages that constitute the unique
   #   CAN fingerprint of each car model and all its variants
   fingerprints = {}
   for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:

common/kalman/Makefile

@@ -1,7 +1,7 @@
 all: simple_kalman_impl.so
 
 simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python simple_kalman_setup.py build_ext --inplace
+	python2 simple_kalman_setup.py build_ext --inplace
 	rm -rf build
 	rm simple_kalman_impl.c
 

common/params.py

@@ -65,6 +65,7 @@ keys = {
   "IsGeofenceEnabled": [TxType.PERSISTENT],
   "IsMetric": [TxType.PERSISTENT],
   "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUploadRawEnabled": [TxType.PERSISTENT],
   "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
   "LimitSetSpeed": [TxType.PERSISTENT],
   "LiveParameters": [TxType.PERSISTENT],

common/realtime.py

@@ -15,6 +15,13 @@ assert monotonic_time
 assert sec_since_boot
 
 
+# time step for each process
+DT_CTRL = 0.01  # controlsd
+DT_PLAN = 0.05  # mpc
+DT_MDL = 0.05  # model
+DT_DMON = 0.1  # driver monitoring
+
+
 ffi = FFI()
 ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)

common/transformations/camera.py

@@ -1,6 +1,5 @@
 import numpy as np
 import common.transformations.orientation as orient
-import cv2
 import math
 
 FULL_FRAME_SIZE = (1164, 874)
@@ -126,6 +125,8 @@ def img_from_device(pt_device):
 
 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
+  import cv2
+
   size = img.shape[:2]
   rot = orient.rot_from_euler(eulers)
   quadrangle = np.array([[0, 0],
@@ -162,6 +163,8 @@ def transform_img(base_img,
                  output_size=None,
                  pretransform=None,
                  top_hacks=True):
+  import cv2
+
   size = base_img.shape[:2]
   if not output_size:
     output_size = size[::-1]
@@ -204,10 +207,10 @@ def transform_img(base_img,
 def yuv_crop(frame, output_size, center=None):
   # output_size in camera coordinates so u,v
   # center in array coordinates so row, column
+  import cv2
   rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
   if not center:
     center = (rgb.shape[0]/2, rgb.shape[1]/2)
   rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
                  center[1] - output_size[0]/2: center[1] + output_size[0]/2]
   return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
-