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less TICI when not needed (#24698)

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* less TICI when not needed

* fix process replay

* move reading voltages into hw abstraction layer

* Update selfdrive/hardware/tici/hardware.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/hardware/hw.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/hardware/base.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* rename init function

* Update selfdrive/athena/athenad.py

Co-authored-by: Robbe Derks <robbe.derks@gmail.com>

* Update selfdrive/boardd/boardd.cc

* Apply suggestions from code review

* Update selfdrive/thermald/thermald.py

* update ref

* fix alert width if all cameras are bad

* add ecam to test_loggerd

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
This commit is contained in:
Willem Melching
2022-06-02 15:20:51 +02:00
committed by GitHub
parent dc2172b55e
commit f49a9c9fd2
45 changed files with 142 additions and 238 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/modeldata.h
-2
View File
@@ -24,8 +24,6 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
const int TICI_CAM_WIDTH = 1928;
namespace tici_dm_crop {
const int x_offset = -72;
const int y_offset = -144;
common/realtime.py
+2 -7
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@@ -8,19 +8,14 @@ from typing import Optional, List, Union
from setproctitle import getproctitle # pylint: disable=no-name-in-module
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
from selfdrive.hardware import PC, TICI
from selfdrive.hardware import PC
# time step for each process
DT_CTRL = 0.01 # controlsd
DT_MDL = 0.05 # model
DT_TRML = 0.5 # thermald and manager
# driver monitoring
if TICI:
DT_DMON = 0.05
else:
DT_DMON = 0.1
DT_DMON = 0.05 # driver monitoring
class Priority:
common/swaglog.cc
+1 -5
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@@ -50,11 +50,7 @@ class SwaglogState : public LogState {
ctx_j["dirty"] = !getenv("CLEAN");
// device type
if (Hardware::TICI()) {
ctx_j["device"] = "tici";
} else {
ctx_j["device"] = "pc";
}
ctx_j["device"] = Hardware::get_name();
LogState::initialize();
}
};
common/tests/test_swaglog.cc
+1 -4
View File
@@ -56,10 +56,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
std::string device = "pc";
if (Hardware::TICI()) {
device = "tici";
}
std::string device = Hardware::get_name();
REQUIRE(ctx["device"].string_value() == device);
int thread_id = atoi(msg["msg"].string_value().c_str());
common/transformations/camera.py
+3 -9
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@@ -1,7 +1,6 @@
import numpy as np
import common.transformations.orientation as orient
from selfdrive.hardware import TICI
## -- hardcoded hardware params --
eon_f_focal_length = 910.0
@@ -45,14 +44,9 @@ tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
if not TICI:
FULL_FRAME_SIZE = eon_f_frame_size
FOCAL = eon_f_focal_length
fcam_intrinsics = eon_fcam_intrinsics
else:
FULL_FRAME_SIZE = tici_f_frame_size
FOCAL = tici_f_focal_length
fcam_intrinsics = tici_fcam_intrinsics
FULL_FRAME_SIZE = tici_f_frame_size
FOCAL = tici_f_focal_length
fcam_intrinsics = tici_fcam_intrinsics
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]