From 7dbbc001eb61fbbbdbe1eebdf2d10fe633a775fd Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 6 Sep 2023 01:05:01 -0400 Subject: [PATCH] Upstream merge fixes --- selfdrive/controls/lib/speed_limit_controller.py | 11 +++++------ selfdrive/controls/lib/turn_speed_controller.py | 7 +++---- selfdrive/controls/lib/vision_turn_controller.py | 8 ++++---- selfdrive/manager/process_config.py | 8 ++++---- 4 files changed, 16 insertions(+), 18 deletions(-) diff --git a/selfdrive/controls/lib/speed_limit_controller.py b/selfdrive/controls/lib/speed_limit_controller.py index 0080027dcf..ac69308db9 100644 --- a/selfdrive/controls/lib/speed_limit_controller.py +++ b/selfdrive/controls/lib/speed_limit_controller.py @@ -4,7 +4,6 @@ from common.numpy_fast import interp from enum import IntEnum from cereal import log, car from common.params import Params -from common.realtime import sec_since_boot from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \ LIMIT_MAX_MAP_DATA_AGE, CONTROL_N from selfdrive.controls.lib.events import Events @@ -264,12 +263,12 @@ class SpeedLimitController(): return self._source def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + _PARAMS_UPDATE_PERIOD: + t = time.monotonic() + if t > self._last_params_update + _PARAMS_UPDATE_PERIOD: self._is_enabled = self._params.get_bool("SpeedLimitControl") self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset") _debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_enabled}') - self._last_params_update = time + self._last_params_update = t def _update_calculations(self): # Update current velocity offset (error) @@ -280,7 +279,7 @@ class SpeedLimitController(): # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise # speed. if not self._op_enabled_prev and self._op_enabled: - self._last_op_enabled_time = sec_since_boot() + self._last_op_enabled_time = time.monotonic() # Update change tracking variables self._speed_limit_changed = self._speed_limit != self._speed_limit_prev @@ -302,7 +301,7 @@ class SpeedLimitController(): # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations # due to controlsd logic changing cruise setpoint when going active. if self._v_cruise_setpoint_changed and \ - sec_since_boot() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD): + time.monotonic() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD): self.state = SpeedLimitControlState.tempInactive return diff --git a/selfdrive/controls/lib/turn_speed_controller.py b/selfdrive/controls/lib/turn_speed_controller.py index fd42c476ce..4c0684bf4a 100644 --- a/selfdrive/controls/lib/turn_speed_controller.py +++ b/selfdrive/controls/lib/turn_speed_controller.py @@ -2,7 +2,6 @@ import numpy as np import time from common.params import Params from cereal import log -from common.realtime import sec_since_boot from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \ LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC from selfdrive.modeld.constants import T_IDXS @@ -163,10 +162,10 @@ class TurnSpeedController(): return speed_limit, 0., turn_sign def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + 5.0: + t = time.monotonic() + if t > self._last_params_update + 5.0: self._is_enabled = self._params.get_bool("TurnSpeedControl") - self._last_params_update = time + self._last_params_update = t def _update_calculations(self): # Update current velocity offset (error) diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py index 9dee9f5b7c..53f320fcd9 100644 --- a/selfdrive/controls/lib/vision_turn_controller.py +++ b/selfdrive/controls/lib/vision_turn_controller.py @@ -1,9 +1,9 @@ import numpy as np import math +import time from cereal import log from common.numpy_fast import interp from common.params import Params -from common.realtime import sec_since_boot from common.conversions import Conversions as CV from selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX @@ -144,10 +144,10 @@ class VisionTurnController(): self._lat_acc_overshoot_ahead = False def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + 5.0: + t = time.monotonic() + if t > self._last_params_update + 5.0: self._is_enabled = self._params.get_bool("TurnVisionControl") - self._last_params_update = time + self._last_params_update = t def _update_calculations(self, sm): # Get path polynomial approximation for curvature estimation from model data. diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 83915f27cd..61bdc8fbf4 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -84,10 +84,10 @@ procs = [ PythonProcess("uploader", "system.loggerd.uploader", always_run), PythonProcess("statsd", "selfdrive.statsd", always_run), - PythonProcess("gpxd", "selfdrive.gpxd.gpxd"), - PythonProcess("gpxd_uploader", "selfdrive.gpxd.gpx_uploader", offroad=True), - PythonProcess("mapd", "selfdrive.mapd.mapd"), - PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", onroad=False, offroad=True), + PythonProcess("gpxd", "selfdrive.gpxd.gpxd", only_onroad), + PythonProcess("gpxd_uploader", "selfdrive.gpxd.gpx_uploader", always_run), + PythonProcess("mapd", "selfdrive.mapd.mapd", only_onroad), + PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", only_offroad), # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),