mawei/onepilot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

2017 test

Browse Source
This commit is contained in:
firestar5683
2026-04-08 19:10:29 -05:00
parent 258eedb42c
commit 04e199cf7b
2 changed files with 75 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/latcontrol_torque.py
+8 -8
View File
@@ -61,14 +61,14 @@ BOLT_CARS = BOLT_2022_2023_CARS + BOLT_2018_2021_CARS + BOLT_2017_CARS
BOLT_2017_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
BOLT_2017_STEER_RATIO_TEST_SCALE = 1.045
BOLT_2017_TORQUE_SCALE_BP = [0.0, 0.2, 0.5, 1.0, 1.5, 2.5]
BOLT_2017_TORQUE_SCALE_LEFT = [1.0, 1.0, 1.065, 1.060, 1.055, 1.045]
BOLT_2017_TORQUE_SCALE_RIGHT = [1.0, 1.0, 1.035, 1.020, 0.995, 0.985]
BOLT_2017_TRANSITION_SPEED = 10.0
BOLT_2017_PHASE_SCALE = 0.12
BOLT_2017_TURN_IN_BOOST_LEFT = 0.28
BOLT_2017_TURN_IN_BOOST_RIGHT = 0.18
BOLT_2017_UNWIND_TAPER_LEFT = 0.08
BOLT_2017_UNWIND_TAPER_RIGHT = 0.28
BOLT_2017_TORQUE_SCALE_LEFT = [1.0, 1.0, 1.078, 1.073, 1.068, 1.052]
BOLT_2017_TORQUE_SCALE_RIGHT = [1.0, 1.0, 1.045, 1.035, 1.010, 0.995]
BOLT_2017_TRANSITION_SPEED = 12.0
BOLT_2017_PHASE_SCALE = 0.10
BOLT_2017_TURN_IN_BOOST_LEFT = 0.40
BOLT_2017_TURN_IN_BOOST_RIGHT = 0.28
BOLT_2017_UNWIND_TAPER_LEFT = 0.22
BOLT_2017_UNWIND_TAPER_RIGHT = 0.32
BOLT_2018_2021_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
BOLT_2018_2021_STEER_RATIO_TEST_SCALE = 1.01
starpilot/system/the_pond/the_pond.py
+67 -3
View File
@@ -99,6 +99,12 @@ send_from_directory = None
_POND_WEB_DEPS_READY = False
_POND_WEB_DEPS_ERROR = None
_TESTING_GROUND_CUSTOM_RESERVED_SERVICE = "customReservedRawData0"
_TESTING_GROUND_CUSTOM_RESERVED_INTERVAL_S = 15.0
_TESTING_GROUND_CUSTOM_RESERVED_PM = None
_TESTING_GROUND_CUSTOM_RESERVED_LOCK = threading.Lock()
_TESTING_GROUND_CUSTOM_RESERVED_LAST_PUBLISH_MONO = 0.0
def _is_comma_device_runtime() -> bool:
"""Robust runtime device check.
@@ -2790,12 +2796,64 @@ def _serialize_testing_grounds_state(state):
"selectableSlots": [slot for slot in slots if not _is_unused_testing_ground_slot(slot)],
}
def _get_testing_ground_custom_reserved_pm():
global _TESTING_GROUND_CUSTOM_RESERVED_PM
with _TESTING_GROUND_CUSTOM_RESERVED_LOCK:
if _TESTING_GROUND_CUSTOM_RESERVED_PM is None:
_TESTING_GROUND_CUSTOM_RESERVED_PM = messaging.PubMaster([_TESTING_GROUND_CUSTOM_RESERVED_SERVICE])
return _TESTING_GROUND_CUSTOM_RESERVED_PM
def _build_testing_ground_custom_reserved_payload(state, reason):
serialized = _serialize_testing_grounds_state(state)
return {
"type": "testingGroundState",
"reason": reason,
"slotId": serialized["activeSlot"],
"slotName": serialized["activeSlotName"],
"variant": serialized["activeVariant"],
"variantLabel": serialized["activeVariantLabel"],
"publishedAt": datetime.now(timezone.utc).isoformat(timespec="seconds").replace("+00:00", "Z"),
}
def _publish_testing_ground_custom_reserved(state, reason):
global _TESTING_GROUND_CUSTOM_RESERVED_LAST_PUBLISH_MONO
payload = _build_testing_ground_custom_reserved_payload(state, reason)
try:
message = messaging.new_message(_TESTING_GROUND_CUSTOM_RESERVED_SERVICE)
message.customReservedRawData0 = json.dumps(payload, separators=(",", ":"), allow_nan=False).encode("utf-8")
_get_testing_ground_custom_reserved_pm().send(_TESTING_GROUND_CUSTOM_RESERVED_SERVICE, message)
except Exception:
return
with _TESTING_GROUND_CUSTOM_RESERVED_LOCK:
_TESTING_GROUND_CUSTOM_RESERVED_LAST_PUBLISH_MONO = time.monotonic()
def _testing_ground_custom_reserved_worker():
while True:
with _TESTING_GROUND_CUSTOM_RESERVED_LOCK:
last_publish_mono = _TESTING_GROUND_CUSTOM_RESERVED_LAST_PUBLISH_MONO
sleep_s = _TESTING_GROUND_CUSTOM_RESERVED_INTERVAL_S - (time.monotonic() - last_publish_mono)
if sleep_s > 0:
time.sleep(min(sleep_s, 1.0))
continue
try:
_publish_testing_ground_custom_reserved(_get_testing_grounds_state(), "heartbeat")
except Exception:
time.sleep(1.0)
def _set_testing_ground_selection(slot_id, variant):
normalized_slot_id = str(slot_id or "").strip()
requested_variant = str(variant or "").strip().upper()
with _TESTING_GROUNDS_LOCK:
state, _ = _load_testing_grounds_state_unlocked()
previous_slot_id = str(state.get("activeSlot") or "").strip()
previous_variant = _normalize_testing_ground_variant(previous_slot_id, state.get("activeVariant"), _find_testing_ground_slot(state, previous_slot_id))
slot_ids = {slot["id"] for slot in state["slots"]}
if normalized_slot_id not in slot_ids:
raise ValueError(f"Unknown testing ground slot '{normalized_slot_id}'.")
@@ -2807,10 +2865,12 @@ def _set_testing_ground_selection(slot_id, variant):
raise ValueError(f"Variant must be one of: {allowed_variants}.")
normalized_variant = _normalize_testing_ground_variant(normalized_slot_id, requested_variant, slot)
changed = normalized_slot_id != previous_slot_id or normalized_variant != previous_variant
state["activeSlot"] = normalized_slot_id
state["activeVariant"] = normalized_variant
_write_testing_grounds_state_unlocked(state)
return state
if changed:
_write_testing_grounds_state_unlocked(state)
return state, changed
def _default_longitudinal_maneuver_status():
return {
@@ -4609,12 +4669,15 @@ def setup(app):
return jsonify({"error": "Missing 'slotId' in request body."}), 400
try:
state = _set_testing_ground_selection(slot_id, variant)
state, changed = _set_testing_ground_selection(slot_id, variant)
except ValueError as exception:
return jsonify({"error": str(exception)}), 400
except Exception as exception:
return jsonify({"error": str(exception)}), 500
if changed:
_publish_testing_ground_custom_reserved(state, "manual_change")
slot = _find_testing_ground_slot(state, slot_id)
slot_name = slot.get("name", f"Testing Ground {slot_id}")
selected_variant = str(state.get("activeVariant") or _TESTING_GROUNDS_DEFAULT_VARIANT)
@@ -5927,6 +5990,7 @@ def main():
app = Flask(__name__, static_folder="assets", static_url_path="/assets")
setup(app)
threading.Thread(target=_testing_ground_custom_reserved_worker, daemon=True).start()
# Desktop-only debug mode. On-device must stay on 8082 to match Galaxy FRP routing.
debug = not _is_comma_device_runtime()