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lp-dp 2023-09-19T10:02:18 for EON/C2

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version: lp-dp v0.9.5 for EON/C2
date: 2023-09-19T10:02:18
commit: ec01d2fd7b3d812c067da83ea53fef0bbf34be25
This commit is contained in:
Vehicle Researcher
2023-09-19 09:32:55 +00:00
parent 2c9fa154d6
commit f7c8e38426
37 changed files with 200 additions and 96 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cereal/custom.capnp
+1
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@@ -83,6 +83,7 @@ struct LateralPlanExt @0xf35cc4560bbf6ec2 {
struct ControlsStateExt @0xda96579883444c35 {
alkaActive @0 :Bool;
alkaEnabled @1 :Bool;
}
struct CustomReserved4 @0x80ae746ee2596b11 {
cereal/libcereal_shared.so
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cereal/visionipc/visionipc_pyx.so
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common/params_pyx.so
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common/version.h
+1 -1
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@@ -1 +1 @@
#define COMMA_VERSION "2023.09.18"
#define COMMA_VERSION "2023.09.19"
opendbc/can/libdbc.so
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panda/board/obj/bootstub.panda.bin
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panda/board/obj/panda.bin.signed
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rednose/helpers/ekf_sym_pyx.so
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selfdrive/boardd/boardd
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selfdrive/boardd/boardd_api_impl.so
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selfdrive/camerad/camerad
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selfdrive/car/chrysler/radar_interface.py
+1 -1
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@@ -25,7 +25,7 @@ def _create_radar_can_parser(car_fingerprint):
messages = list(zip(RADAR_MSGS_C +
RADAR_MSGS_D,
[20] * msg_n + # 20Hz (0.05s)
[20] * msg_n, strict=True)) # 20Hz (0.05s)
[20] * msg_n)) # 20Hz (0.05s)
return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
selfdrive/car/ford/radar_interface.py
+1 -1
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@@ -15,7 +15,7 @@ DELPHI_MRR_RADAR_MSG_COUNT = 64
def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
msg_n = len(DELPHI_ESR_RADAR_MSGS)
messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True))
messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar)
selfdrive/car/gm/radar_interface.py
+1 -1
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@@ -25,7 +25,7 @@ def create_radar_can_parser(car_fingerprint):
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True))
[RADAR_HEADER_MSG] * 7 + radar_targets * 6))
messages = list({(s[1], 14) for s in signals})
selfdrive/car/toyota/radar_interface.py
+1 -1
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@@ -15,7 +15,7 @@ def _create_radar_can_parser(car_fingerprint):
msg_a_n = len(RADAR_A_MSGS)
msg_b_n = len(RADAR_B_MSGS)
messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n), strict=True))
messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n)))
return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
selfdrive/controls/controlsd.py
+3 -2
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@@ -37,7 +37,7 @@ REPLAY = "REPLAY" in os.environ
SIMULATION = "SIMULATION" in os.environ
TESTING_CLOSET = "TESTING_CLOSET" in os.environ
NOSENSOR = "NOSENSOR" in os.environ
IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "mapd"}
IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "mapd", "gpxd"}
NO_IR_CTRL = Params().get_bool("dp_device_no_ir_ctrl")
if NO_IR_CTRL:
@@ -871,7 +871,8 @@ class Controls:
dat = messaging.new_message('controlsStateExt')
dat.valid = CS.canValid
controlsStateExt = dat.controlsStateExt
controlsStateExt.alkaActive = CC.latActive and (self._dp_alka and self._dp_alka_active)
controlsStateExt.alkaActive = self._dp_alka_active
controlsStateExt.alkaEnabled = self._dp_alka
self.pm.send('controlsStateExt', dat)
# carState
selfdrive/controls/lib/dynamic_endtoend_controller.py
+12
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@@ -21,6 +21,10 @@ DANGEROUS_TTC = 1.55
HIGHWAY_CRUISE_KPH = 75
STOP_AND_GO_FRAME = 500
MODE_SWITCH_DELAY_FRAME = 500
class SNG_State:
off = 0
stopped = 1
@@ -53,6 +57,10 @@ class DynamicEndtoEndController:
def __init__(self):
self._is_enabled = False
self._mode = 'acc'
self._mode_prev = 'acc'
self._mode_switch_allowed = True
self._mode_switch_frame = 0
self._frame = 0
self._lead_gmac = GenericMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
self._has_lead_filtered = False
@@ -143,6 +151,7 @@ class DynamicEndtoEndController:
self._has_slowness_prev = self._has_slowness
self._has_slow_down_prev = self._has_slow_down
self._has_lead_filtered_prev = self._has_lead_filtered
self._frame += 1
def _blended_priority_mode(self):
# when blinker is on and speed is driving below highway cruise speed: blended
@@ -209,11 +218,14 @@ class DynamicEndtoEndController:
def get_mpc_mode(self, radar_unavailable, car_state, lead_one, md, controls_state):
if self._is_enabled:
self._update(car_state, lead_one, md, controls_state, radar_unavailable)
if self._frame > self._mode_switch_frame:
self._mode_switch_allowed = True
if radar_unavailable:
self._blended_priority_mode()
else:
self._acc_priority_mode()
self._mode_prev = self._mode
return self._mode
def set_enabled(self, enabled):
selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json
+161 -75
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@@ -91,11 +91,124 @@
"usphi_e": []
},
"cost": {
"Vu": [],
"Vu_0": [],
"Vx": [],
"Vx_0": [],
"Vx_e": [],
"Vu": [
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
]
],
"Vu_0": [
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
]
],
"Vx": [
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
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0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
]
],
"Vx_0": [
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
]
],
"Vx_e": [
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
]
],
"Vz": [],
"Vz_0": [],
"W": [
@@ -223,10 +336,7 @@
"zu": [],
"zu_e": []
},
"cython_include_dirs": [
"/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include",
"/data/data/com.termux/files/usr/include/python3.8"
],
"cython_include_dirs": "/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include",
"dims": {
"N": 16,
"nbu": 0,
@@ -261,74 +371,73 @@
"ny_e": 3,
"nz": 0
},
"json_file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json",
"model": {
"con_h_expr": null,
"con_h_expr_e": null,
"con_phi_expr": null,
"con_phi_expr_e": null,
"con_r_expr": null,
"con_r_expr_e": null,
"con_r_in_phi": null,
"con_r_in_phi_e": null,
"cost_conl_custom_outer_hess": null,
"cost_conl_custom_outer_hess_0": null,
"cost_conl_custom_outer_hess_e": null,
"cost_expr_ext_cost": null,
"cost_expr_ext_cost_0": null,
"cost_expr_ext_cost_custom_hess": null,
"cost_expr_ext_cost_custom_hess_0": null,
"cost_expr_ext_cost_custom_hess_e": null,
"cost_expr_ext_cost_e": null,
"cost_psi_expr": null,
"cost_psi_expr_0": null,
"cost_psi_expr_e": null,
"cost_r_in_psi_expr": null,
"cost_r_in_psi_expr_0": null,
"cost_r_in_psi_expr_e": null,
"cost_y_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegjaaaaaaaaaaaaaaafaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegdaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgkaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpgegeaaaaaaaaaaaaaaachjaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachkjjjjjjjjjjjjlpd",
"cost_y_expr_0": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegjaaaaaaaaaaaaaaafaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegdaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgkaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpgegeaaaaaaaaaaaaaaachjaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachkjjjjjjjjjjjjlpd",
"cost_y_expr_e": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaeghaaaaaaaaaaaaaaadaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegdaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgkaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpg",
"disc_dyn_expr": null,
"dyn_disc_fun": null,
"dyn_disc_fun_jac": null,
"dyn_disc_fun_jac_hess": null,
"dyn_ext_fun_type": "casadi",
"dyn_generic_source": null,
"f_expl_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegoaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaapaaaaaaachpgehbgehjgpgogpfchbgegjgfhdhegnaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegbaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegnaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachfaaaaaaaaaaaaaaaegoaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaachiaaaaaaaaaaaaaaachiaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpg",
"f_impl_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaajaaaaaaaihpffghgpgpfegpgehegcaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegoaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaapaaaaaaachpgehbgehjgpgogpfchbgegjgfhdhegnaaaaaaaaaaaaaaachdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaajaaaaaaajhpffghgpgpfegpgehegbaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegnaaaaaaaaaaaaaaachdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachgaaaaaaaaaaaaaaaegoaaaaaaaaaaaaaaachdaaaaaaaaaaaaaaachjaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaalaaaaaaaahdhjgpffghgpgpfegpgehchjaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaabaaaaaaahdhjgpfchbgehfgpffghgpgpfegpgehegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpg",
"dyn_source_discrete": null,
"gnsf": {
"nontrivial_f_LO": 1,
"purely_linear": 0
},
"name": "lat",
"p": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaeggaaaaaaaaaaaaaaacaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaacaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegpcaaaaaaaaaaaaaapaaaaaaachpgehbgehjgpgogpfchbgegjgfhdh",
"u": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegfaaaaaaaaaaaaaaabaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpg",
"x": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpg",
"xdot": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaajaaaaaaaihpffghgpgpfegpgehegpcaaaaaaaaaaaaaajaaaaaaajhpffghgpgpfegpgehegpcaaaaaaaaaaaaaalaaaaaaaahdhjgpffghgpgpfegpgehegpcaaaaaaaaaaaaaaabaaaaaaahdhjgpfchbgehfgpffghgpgpfegpgeh",
"z": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa"
"name": "lat"
},
"parameter_values": [
0.0,
0.0
],
"problem_class": "OCP",
"shared_lib_ext": ".so",
"simulink_opts": {
"inputs": {
"cost_W": 0,
"cost_W_0": 0,
"cost_W_e": 0,
"lbu": 1,
"lbx": 1,
"lbx_0": 1,
"lbx_e": 1,
"lg": 1,
"lh": 1,
"parameter_traj": 1,
"reset_solver": 0,
"u_init": 0,
"ubu": 1,
"ubx": 1,
"ubx_0": 1,
"ubx_e": 1,
"ug": 1,
"uh": 1,
"x_init": 0,
"y_ref": 1,
"y_ref_0": 1,
"y_ref_e": 1
},
"outputs": {
"CPU_time": 1,
"CPU_time_lin": 0,
"CPU_time_qp": 0,
"CPU_time_sim": 0,
"KKT_residual": 1,
"solver_status": 1,
"sqp_iter": 1,
"u0": 1,
"utraj": 0,
"x1": 1,
"xtraj": 0
},
"samplingtime": "t0"
},
"solver_options": {
"Tsim": 0.009765625,
"alpha_min": 0.05,
"alpha_reduction": 0.7,
"collocation_type": "GAUSS_LEGENDRE",
"custom_templates": [],
"custom_update_copy": true,
"custom_update_filename": "",
"custom_update_header_filename": "",
"eps_sufficient_descent": 0.0001,
"exact_hess_constr": 1,
"exact_hess_cost": 1,
"exact_hess_dyn": 1,
"ext_cost_num_hess": 0,
"ext_fun_compile_flags": "-O2",
"full_step_dual": 0,
"globalization": "FIXED_STEP",
"globalization_use_SOC": 0,
@@ -340,7 +449,6 @@
"line_search_use_sufficient_descent": 0,
"model_external_shared_lib_dir": null,
"model_external_shared_lib_name": null,
"nlp_solver_ext_qp_res": 0,
"nlp_solver_max_iter": 100,
"nlp_solver_step_length": 1.0,
"nlp_solver_tol_comp": 1e-06,
@@ -351,34 +459,13 @@
"print_level": 0,
"qp_solver": "PARTIAL_CONDENSING_HPIPM",
"qp_solver_cond_N": 1,
"qp_solver_cond_ric_alg": 1,
"qp_solver_iter_max": 1,
"qp_solver_ric_alg": 1,
"qp_solver_tol_comp": null,
"qp_solver_tol_eq": null,
"qp_solver_tol_ineq": null,
"qp_solver_tol_stat": null,
"qp_solver_warm_start": 0,
"regularize_method": null,
"shooting_nodes": [
0.0,
0.009765625,
0.0390625,
0.087890625,
0.15625,
0.244140625,
0.3515625,
0.478515625,
0.625,
0.791015625,
0.9765625,
1.181640625,
1.40625,
1.650390625,
1.9140625,
2.197265625,
2.5
],
"sim_method_jac_reuse": [
0,
0,
@@ -398,7 +485,6 @@
0
],
"sim_method_newton_iter": 3,
"sim_method_newton_tol": 0.0,
"sim_method_num_stages": [
4,
4,
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h
+4 -2
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@@ -1,5 +1,8 @@
/*
* Copyright (c) The acados authors.
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
@@ -58,7 +61,6 @@ typedef struct sim_solver_capsule
/* external functions */
// ERK
external_function_param_casadi * sim_forw_vde_casadi;
external_function_param_casadi * sim_vde_adj_casadi;
external_function_param_casadi * sim_expl_ode_fun_casadi;
external_function_param_casadi * sim_expl_ode_hess;
selfdrive/dragonpilot/gpx_uploader.py
+13 -11
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@@ -24,13 +24,14 @@
import os
import time
from openpilot.common.params import Params
from openpilot.system.version import get_version
from openpilot.system.version import get_version, get_branch
# from openpilot.common.realtime import set_core_affinity, set_realtime_priority
# for uploader
from openpilot.selfdrive.loggerd.xattr_cache import getxattr, setxattr
import glob
import requests
import json
# import json
# customisable values
GPX_LOG_PATH = '/data/media/0/gpx_logs/'
@@ -56,17 +57,18 @@ def _debug(msg):
class GpxUploader():
def __init__(self):
self._delete_after_upload = True #not Params().get_bool('dp_gpxd')
self._car_model = "Unknown Vehicle"
# self._car_model = "Unknown Vehicle"
self._version = get_version()
self._branch = get_branch()
def _identify_vehicle(self):
# read model from LiveParameters
params = Params().get("LiveParameters")
if params is not None:
params = json.loads(params)
self._car_model = params.get('carFingerprint', self._car_model)
self._dp_version = get_version()
# params = Params().get("LiveParameters")
# if params is not None:
# params = json.loads(params)
# self._car_model = params.get('carFingerprint', self._car_model)
_debug("GpxUploader init - _delete_after_upload = %s" % self._delete_after_upload)
_debug("GpxUploader init - _car_model = %s" % self._car_model)
# _debug("GpxUploader init - _car_model = %s" % self._car_model)
def _is_online(self):
try:
@@ -99,7 +101,7 @@ class GpxUploader():
def _do_upload(self, filename):
fn = os.path.basename(filename)
data = {
'description': "Routes from dragonpilot %s (%s)." % (self._dp_version, self._car_model),
'description': f"Routes from dragonpilot {self._branch} / {self._version}.",
'visibility': 'identifiable'
}
files = {
@@ -113,7 +115,7 @@ class GpxUploader():
return False
def run(self):
# give it few seconds before we start runing the process
# give it few seconds before we start running the process
# only identify vehicle once
time.sleep(10)
self._identify_vehicle()
selfdrive/hybrid_modeld/_dmonitoringmodeld
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selfdrive/manager/manager.py
+1 -1
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@@ -169,7 +169,7 @@ def manager_thread() -> None:
ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
if not params.get_bool("dp_mapd"):
ignore += ["mapd"]
ignore += ["mapd", "gpxd"]
if params.get_bool("dp_no_gps_ctrl"):
ignore += ["ubloxd", "gpx_uploader", "gpxd", "mapd"]
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