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mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-07-20 04:12:05 +08:00
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minor code refactor.

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This commit is contained in:
dragonpilot
2020-03-06 12:41:53 +10:00
parent 64009c5c17
commit f9aeb650ac
4 changed files with 73 additions and 66 deletions
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selfdrive/car/honda/carcontroller.py
+13 -7
View File
@@ -167,15 +167,21 @@ class CarController():
can_sends = []
# dragonpilot
if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
self.turning_signal_timer = 100
if enabled:
if self.dragon_enable_steering_on_signal:
if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
self.turning_signal_timer = 0
else:
self.turning_signal_timer = 100
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
lkas_active = False
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
lkas_active = False
else:
self.turning_signal_timer = 0
if not self.dragon_lat_ctrl:
lkas_active = False
if not self.dragon_lat_ctrl:
lkas_active = False
# Send steering command.
idx = frame % 4
selfdrive/car/hyundai/carcontroller.py
+13 -7
View File
@@ -43,15 +43,21 @@ class CarController():
can_sends = []
# dragonpilot
if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
self.turning_signal_timer = 100
if enabled:
if self.dragon_enable_steering_on_signal:
if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
self.turning_signal_timer = 0
else:
self.turning_signal_timer = 100
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
steer_req = 0
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
steer_req = 0
else:
self.turning_signal_timer = 0
if not self.dragon_lat_ctrl:
steer_req = 0
if not self.dragon_lat_ctrl:
steer_req = 0
self.lkas11_cnt = self.cnt % 0x10
self.clu11_cnt = self.cnt % 0x10
selfdrive/car/toyota/carcontroller.py
+25 -19
View File
@@ -191,26 +191,32 @@ class CarController():
can_sends = []
# dragonpilot
if enabled and (CS.left_blinker_on or CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
self.turning_signal_timer = 100
if enabled:
if self.dragon_enable_steering_on_signal:
if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
self.turning_signal_timer = 0
else:
self.turning_signal_timer = 100
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
apply_steer_req = 0
else:
self.turning_signal_timer = 0
if not self.dragon_lat_ctrl:
apply_steer_req = 0
else:
if CS.v_ego > 12.5:
if right_lane_depart and not CS.right_blinker_on:
apply_steer = self.last_steer + 3
apply_steer = min(apply_steer , 800)
apply_steer_req = 1
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
apply_steer_req = 0
if not self.dragon_lat_ctrl:
apply_steer_req = 0
if CS.v_ego > 12.5 and not enabled:
if right_lane_depart and not CS.right_blinker_on:
apply_steer = self.last_steer + 3
apply_steer = min(apply_steer , 800)
apply_steer_req = 1
if left_lane_depart and not CS.left_blinker_on:
apply_steer = self.last_steer - 3
apply_steer = max(apply_steer , -800)
apply_steer_req = 1
if left_lane_depart and not CS.left_blinker_on:
apply_steer = self.last_steer - 3
apply_steer = max(apply_steer , -800)
apply_steer_req = 1
#*** control msgs ***
#print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
selfdrive/crash.py
+22 -33
View File
@@ -1,10 +1,13 @@
"""Install exception handler for process crash."""
import os
import sys
import json
#from subprocess import check_output
import threading
from selfdrive.version import version, dirty
import capnp
from common.params import Params
from selfdrive.version import version, dirty, origin, branch
from common.op_params import opParams
op_params = opParams()
uniqueID = op_params.get('uniqueID', None)
from selfdrive.swaglog import cloudlog
@@ -20,47 +23,33 @@ if os.getenv("NOLOG") or os.getenv("NOCRASH"):
else:
from raven import Client
from raven.transport.http import HTTPTransport
error_tags = {'dirty': dirty, 'username': 'char_error'}
params = Params()
try:
with open("/data/data/ai.comma.plus.offroad/files/persistStore/persist-auth", "r") as f:
auth = json.loads(f.read())
auth = json.loads(auth['commaUser'])
tags = ['username', 'email']
for tag in tags:
try:
error_tags[tag] = ''.join(char for char in auth[tag].decode('utf-8', 'ignore') if char.isalnum())
except:
pass
except:
pass
logging_data = {"branch": "/data/params/d/GitBranch", "commit": "/data/params/d/GitCommit", "remote": "/data/params/d/GitRemote"}
for key in logging_data:
try:
with open(logging_data[key], "r") as f:
error_tags[key] = str(f.read())
except:
error_tags[key] = "unknown"
dongle_id = params.get("DongleId").decode('utf8')
except AttributeError:
dongle_id = "None"
error_tags = {'dirty': dirty, 'username': uniqueID, 'dongle_id': dongle_id, 'branch': branch, 'remote': origin}
client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
def capture_warning(warning_string):
client.captureMessage(warning_string, level='warning')
def capture_info(info_string):
client.captureMessage(info_string, level='info')
def capture_exception(*args, **kwargs):
client.captureException(*args, **kwargs)
exc_info = sys.exc_info()
if not exc_info[0] is capnp.lib.capnp.KjException:
client.captureException(*args, **kwargs)
cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
def bind_user(**kwargs):
client.user_context(kwargs)
def capture_warning(warning_string):
bind_user(id=dongle_id)
client.captureMessage(warning_string, level='warning')
def capture_info(info_string):
bind_user(id=dongle_id)
client.captureMessage(info_string, level='info')
def bind_extra(**kwargs):
client.extra_context(kwargs)