mirror of
https://github.com/sunnypilot/sunnypilot.git
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5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 DevTekVE
|
a3201845f2 | ||
|
DevTekVE
|
9567c074c1 | ||
|
DevTekVE
|
a79a2ac494 | ||
|
DevTekVE
|
e6055d68be | ||
|
DevTekVE
|
3b907acfe7 |
@@ -1,43 +0,0 @@
|
||||
exclude-labels:
|
||||
- 'no-changelog'
|
||||
categories:
|
||||
- title: '🚀 Features'
|
||||
labels:
|
||||
- 'feature'
|
||||
- 'enhancement'
|
||||
- title: '🐛 Bug Fixes'
|
||||
collapse-after: 5
|
||||
labels:
|
||||
- 'fix'
|
||||
- 'bugfix'
|
||||
- 'bug'
|
||||
- title: '🧰 Maintenance'
|
||||
collapse-after: 5
|
||||
label: 'chore'
|
||||
change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
|
||||
change-title-escapes: '\<*_&'
|
||||
replacers:
|
||||
- search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
|
||||
replace: 'sunnypilot'
|
||||
- search: '/\b[Ss][Pp]\b/g'
|
||||
replace: 'SP'
|
||||
version-resolver:
|
||||
major:
|
||||
labels:
|
||||
- 'major'
|
||||
minor:
|
||||
labels:
|
||||
- 'minor'
|
||||
patch:
|
||||
labels:
|
||||
- 'patch'
|
||||
default: patch
|
||||
name-template: 'v$RESOLVED_VERSION 🚀'
|
||||
tag-template: 'v$RESOLVED_VERSION'
|
||||
version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
|
||||
tag-prefix: "v0." # The day OP becomes v1, we need to bump this
|
||||
prerelease-identifier: "staging"
|
||||
template: |
|
||||
## Changes
|
||||
|
||||
$CHANGES
|
||||
@@ -1,29 +0,0 @@
|
||||
name: Release Drafter
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master-new
|
||||
- master
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request_target:
|
||||
types: [opened, reopened, synchronize]
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
update_release_draft:
|
||||
permissions:
|
||||
contents: write
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: release-drafter/release-drafter@v6
|
||||
with:
|
||||
config-name: release-drafter.yml
|
||||
prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -29,50 +29,6 @@ then means breaking backwards-compatibility with all old logs of your fork. So w
|
||||
[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
|
||||
fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
|
||||
|
||||
An example of compatible changes:
|
||||
```diff
|
||||
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
|
||||
index 3348e859e..3365c7b98 100644
|
||||
--- a/cereal/custom.capnp
|
||||
+++ b/cereal/custom.capnp
|
||||
@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
-struct CustomReserved0 @0x81c2f05a394cf4af {
|
||||
+struct SteeringInfo @0x81c2f05a394cf4af {
|
||||
+ active @0 :Bool;
|
||||
+ steeringAngleDeg @1 :Float32;
|
||||
+ steeringRateDeg @2 :Float32;
|
||||
+ steeringAccelDeg @3 :Float32;
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
diff --git a/cereal/log.capnp b/cereal/log.capnp
|
||||
index 1209f3fd9..b189f58b6 100644
|
||||
--- a/cereal/log.capnp
|
||||
+++ b/cereal/log.capnp
|
||||
@@ -2558,14 +2558,14 @@ struct Event {
|
||||
|
||||
# DO change the name of the field
|
||||
# DON'T change anything after the "@"
|
||||
- customReservedRawData0 @124 :Data;
|
||||
+ rawCanData @124 :Data;
|
||||
customReservedRawData1 @125 :Data;
|
||||
customReservedRawData2 @126 :Data;
|
||||
|
||||
# DO change the name of the field and struct
|
||||
# DON'T change the ID (e.g. @107)
|
||||
# DON'T change which struct it points to
|
||||
- customReserved0 @107 :Custom.CustomReserved0;
|
||||
+ steeringInfo @107 :Custom.SteeringInfo;
|
||||
customReserved1 @108 :Custom.CustomReserved1;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
Example
|
||||
---
|
||||
```python
|
||||
|
||||
+3
-47
@@ -7,9 +7,7 @@ $Cxx.namespace("cereal");
|
||||
# These structs are guaranteed to remain reserved and empty in mainline
|
||||
# cereal, so use these if you want custom events in your fork.
|
||||
|
||||
# DO rename the structs
|
||||
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
|
||||
|
||||
# you can rename the struct, but don't change the identifier
|
||||
struct SelfdriveStateSP @0x81c2f05a394cf4af {
|
||||
mads @0 :ModularAssistiveDrivingSystem;
|
||||
|
||||
@@ -66,7 +64,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
progress @1 :Float32;
|
||||
eta @2 :UInt32;
|
||||
}
|
||||
|
||||
|
||||
enum Runner {
|
||||
snpe @0;
|
||||
tinygrad @1;
|
||||
@@ -84,19 +82,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
}
|
||||
}
|
||||
|
||||
struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
|
||||
dec @0 :DynamicExperimentalControl;
|
||||
|
||||
struct DynamicExperimentalControl {
|
||||
state @0 :DynamicExperimentalControlState;
|
||||
enabled @1 :Bool;
|
||||
active @2 :Bool;
|
||||
|
||||
enum DynamicExperimentalControlState {
|
||||
acc @0;
|
||||
blended @1;
|
||||
}
|
||||
}
|
||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
||||
}
|
||||
|
||||
struct CustomReserved3 @0xda96579883444c35 {
|
||||
@@ -119,33 +105,3 @@ struct CustomReserved8 @0xf416ec09499d9d19 {
|
||||
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
}
|
||||
|
||||
struct CustomReserved10 @0xcb9fd56c7057593a {
|
||||
}
|
||||
|
||||
struct CustomReserved11 @0xc2243c65e0340384 {
|
||||
}
|
||||
|
||||
struct CustomReserved12 @0x9ccdc8676701b412 {
|
||||
}
|
||||
|
||||
struct CustomReserved13 @0xcd96dafb67a082d0 {
|
||||
}
|
||||
|
||||
struct CustomReserved14 @0xb057204d7deadf3f {
|
||||
}
|
||||
|
||||
struct CustomReserved15 @0xbd443b539493bc68 {
|
||||
}
|
||||
|
||||
struct CustomReserved16 @0xfc6241ed8877b611 {
|
||||
}
|
||||
|
||||
struct CustomReserved17 @0xa30662f84033036c {
|
||||
}
|
||||
|
||||
struct CustomReserved18 @0xc86a3d38d13eb3ef {
|
||||
}
|
||||
|
||||
struct CustomReserved19 @0xa4f1eb3323f5f582 {
|
||||
}
|
||||
|
||||
+2
-18
@@ -2629,20 +2629,14 @@ struct Event {
|
||||
livestreamWideRoadEncodeData @121 :EncodeData;
|
||||
livestreamDriverEncodeData @122 :EncodeData;
|
||||
|
||||
# *********** Custom: reserved for forks ***********
|
||||
|
||||
# DO change the name of the field
|
||||
# DON'T change anything after the "@"
|
||||
customReservedRawData0 @124 :Data;
|
||||
customReservedRawData1 @125 :Data;
|
||||
customReservedRawData2 @126 :Data;
|
||||
|
||||
# DO change the name of the field and struct
|
||||
# DON'T change the ID (e.g. @107)
|
||||
# DON'T change which struct it points to
|
||||
# *********** Custom: reserved for forks ***********
|
||||
selfdriveStateSP @107 :Custom.SelfdriveStateSP;
|
||||
modelManagerSP @108 :Custom.ModelManagerSP;
|
||||
longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
customReserved4 @111 :Custom.CustomReserved4;
|
||||
customReserved5 @112 :Custom.CustomReserved5;
|
||||
@@ -2650,16 +2644,6 @@ struct Event {
|
||||
customReserved7 @114 :Custom.CustomReserved7;
|
||||
customReserved8 @115 :Custom.CustomReserved8;
|
||||
customReserved9 @116 :Custom.CustomReserved9;
|
||||
customReserved10 @136 :Custom.CustomReserved10;
|
||||
customReserved11 @137 :Custom.CustomReserved11;
|
||||
customReserved12 @138 :Custom.CustomReserved12;
|
||||
customReserved13 @139 :Custom.CustomReserved13;
|
||||
customReserved14 @140 :Custom.CustomReserved14;
|
||||
customReserved15 @141 :Custom.CustomReserved15;
|
||||
customReserved16 @142 :Custom.CustomReserved16;
|
||||
customReserved17 @143 :Custom.CustomReserved17;
|
||||
customReserved18 @144 :Custom.CustomReserved18;
|
||||
customReserved19 @145 :Custom.CustomReserved19;
|
||||
|
||||
# *********** legacy + deprecated ***********
|
||||
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
|
||||
@@ -77,7 +77,6 @@ _services: dict[str, tuple] = {
|
||||
# sunnypilot
|
||||
"modelManagerSP": (False, 1., 1),
|
||||
"selfdriveStateSP": (True, 100., 10),
|
||||
"longitudinalPlanSP": (True, 20., 10),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
|
||||
@@ -229,8 +229,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"HyundaiRadarTracksConfirmed", PERSISTENT},
|
||||
{"HyundaiRadarTracksPersistent", PERSISTENT},
|
||||
{"HyundaiRadarTracksToggle", PERSISTENT},
|
||||
|
||||
{"DynamicExperimentalControl", PERSISTENT},
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
@@ -294,17 +294,4 @@ std::string check_output(const std::string& command) {
|
||||
return result;
|
||||
}
|
||||
|
||||
bool system_time_valid() {
|
||||
// Default to August 26, 2024
|
||||
tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
|
||||
time_t min_date = mktime(&min_tm);
|
||||
|
||||
struct stat st;
|
||||
if (stat("/lib/systemd/systemd", &st) == 0) {
|
||||
min_date = std::max(min_date, st.st_mtime + 86400); // Add 1 day (86400 seconds)
|
||||
}
|
||||
|
||||
return time(nullptr) > min_date;
|
||||
}
|
||||
|
||||
} // namespace util
|
||||
|
||||
@@ -96,8 +96,6 @@ bool create_directories(const std::string &dir, mode_t mode);
|
||||
|
||||
std::string check_output(const std::string& command);
|
||||
|
||||
bool system_time_valid();
|
||||
|
||||
inline void sleep_for(const int milliseconds) {
|
||||
if (milliseconds > 0) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 038c84a84e...003db4f6c6
+1
-1
Submodule panda updated: d3252abcc4...96632fa921
@@ -191,7 +191,7 @@ class CarSpecificEvents:
|
||||
events.add(EventName.speedTooHigh)
|
||||
if CS.cruiseState.nonAdaptive:
|
||||
events.add(EventName.wrongCruiseMode)
|
||||
if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
|
||||
if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl and self.CP.carName != 'toyota':
|
||||
events.add(EventName.brakeHold)
|
||||
if CS.parkingBrake:
|
||||
events.add(EventName.parkBrake)
|
||||
|
||||
+4
-23
@@ -23,7 +23,7 @@ from openpilot.selfdrive.car.cruise import VCruiseHelper
|
||||
from openpilot.selfdrive.car.car_specific import MockCarState
|
||||
|
||||
from openpilot.sunnypilot.mads.mads import MadsParams
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces
|
||||
from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
|
||||
@@ -102,7 +102,7 @@ class Car:
|
||||
cached_params = _cached_params
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
|
||||
interfaces.setup_car_interface_sp(self.CI.CP, self.params)
|
||||
setup_car_interface_sp(self.CI.CP, self.params)
|
||||
self.RI = get_radar_interface(self.CI.CP)
|
||||
self.CP = self.CI.CP
|
||||
|
||||
@@ -122,9 +122,6 @@ class Car:
|
||||
MadsParams().set_alternative_experience(self.CP)
|
||||
MadsParams().set_car_specific_params(self.CP)
|
||||
|
||||
# Dynamic Experimental Control
|
||||
self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
|
||||
|
||||
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
|
||||
|
||||
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
|
||||
@@ -136,15 +133,6 @@ class Car:
|
||||
self.CP.safetyConfigs = [safety_config]
|
||||
|
||||
if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
|
||||
# Copy user key if available
|
||||
try:
|
||||
with open("/cache/params/SecOCKey") as f:
|
||||
user_key = f.readline().strip()
|
||||
if len(user_key) == 32:
|
||||
self.params.put("SecOCKey", user_key)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
secoc_key = self.params.get("SecOCKey", encoding='utf8')
|
||||
if secoc_key is not None:
|
||||
saved_secoc_key = bytes.fromhex(secoc_key.strip())
|
||||
@@ -176,9 +164,6 @@ class Car:
|
||||
# card is driven by can recv, expected at 100Hz
|
||||
self.rk = Ratekeeper(100, print_delay_threshold=None)
|
||||
|
||||
# log fingerprint in sentry
|
||||
interfaces.log_fingerprint(self.CP)
|
||||
|
||||
def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
|
||||
"""carState update loop, driven by can"""
|
||||
|
||||
@@ -207,7 +192,7 @@ class Car:
|
||||
self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
|
||||
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
|
||||
# Use CarState w/ buttons from the step selfdrived enables on
|
||||
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
|
||||
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
|
||||
|
||||
# TODO: mirror the carState.cruiseState struct?
|
||||
CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
|
||||
@@ -252,7 +237,7 @@ class Car:
|
||||
# Initialize CarInterface, once controls are ready
|
||||
# TODO: this can make us miss at least a few cycles when doing an ECU knockout
|
||||
self.CI.init(self.CP, *self.can_callbacks)
|
||||
interfaces.initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
|
||||
initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
|
||||
# signal pandad to switch to car safety mode
|
||||
self.params.put_bool_nonblocking("ControlsReady", True)
|
||||
|
||||
@@ -281,10 +266,6 @@ class Car:
|
||||
while not evt.is_set():
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
|
||||
|
||||
# sunnypilot
|
||||
self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
def card_thread(self):
|
||||
|
||||
@@ -120,13 +120,12 @@ class VCruiseHelper:
|
||||
self.button_timers[b.type.raw] = 1 if b.pressed else 0
|
||||
self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
|
||||
|
||||
def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
|
||||
def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
|
||||
# initializing is handled by the PCM
|
||||
if self.CP.pcmCruise:
|
||||
return
|
||||
|
||||
initial_experimental_mode = experimental_mode and not dynamic_experimental_control
|
||||
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
|
||||
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
|
||||
|
||||
if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
|
||||
self.v_cruise_kph = self.v_cruise_kph_last
|
||||
|
||||
@@ -57,16 +57,16 @@ class TestVCruiseHelper:
|
||||
for _ in range(2):
|
||||
self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
|
||||
|
||||
def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
|
||||
def enable(self, v_ego, experimental_mode):
|
||||
# Simulates user pressing set with a current speed
|
||||
self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
|
||||
self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
|
||||
|
||||
def test_adjust_speed(self):
|
||||
"""
|
||||
Asserts speed changes on falling edges of buttons.
|
||||
"""
|
||||
|
||||
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
|
||||
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
|
||||
|
||||
for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
|
||||
for pressed in (True, False):
|
||||
@@ -90,7 +90,7 @@ class TestVCruiseHelper:
|
||||
CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
|
||||
self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
|
||||
if pressed:
|
||||
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
|
||||
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
|
||||
|
||||
# Expected diff on enabling. Speed should not change on falling edge of pressed
|
||||
assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
|
||||
@@ -100,7 +100,7 @@ class TestVCruiseHelper:
|
||||
Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
|
||||
"""
|
||||
|
||||
self.enable(0, False, False)
|
||||
self.enable(0, False)
|
||||
|
||||
for standstill in (True, False):
|
||||
for pressed in (True, False):
|
||||
@@ -120,7 +120,7 @@ class TestVCruiseHelper:
|
||||
|
||||
for v_ego in np.linspace(0, 100, 101):
|
||||
self.reset_cruise_speed_state()
|
||||
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
|
||||
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
|
||||
|
||||
# first decrement speed, then perform gas pressed logic
|
||||
expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
|
||||
@@ -142,11 +142,10 @@ class TestVCruiseHelper:
|
||||
"""
|
||||
|
||||
for experimental_mode in (True, False):
|
||||
for dynamic_experimental_control in (True, False):
|
||||
for v_ego in np.linspace(0, 100, 101):
|
||||
self.reset_cruise_speed_state()
|
||||
assert not self.v_cruise_helper.v_cruise_initialized
|
||||
for v_ego in np.linspace(0, 100, 101):
|
||||
self.reset_cruise_speed_state()
|
||||
assert not self.v_cruise_helper.v_cruise_initialized
|
||||
|
||||
self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
|
||||
assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
|
||||
assert self.v_cruise_helper.v_cruise_initialized
|
||||
self.enable(float(v_ego), experimental_mode)
|
||||
assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
|
||||
assert self.v_cruise_helper.v_cruise_initialized
|
||||
|
||||
@@ -15,8 +15,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
|
||||
|
||||
LON_MPC_STEP = 0.2 # first step is 0.2s
|
||||
A_CRUISE_MIN = -1.2
|
||||
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
|
||||
@@ -68,11 +66,10 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
|
||||
return a_target, should_stop
|
||||
|
||||
|
||||
class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
class LongitudinalPlanner:
|
||||
def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
self.CP = CP
|
||||
self.mpc = LongitudinalMpc(dt=dt)
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
self.allow_throttle = True
|
||||
@@ -107,10 +104,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
return x, v, a, j, throttle_prob
|
||||
|
||||
def update(self, sm):
|
||||
LongitudinalPlannerSP.update(self, sm)
|
||||
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
if dec_mpc_mode := self.get_mpc_mode():
|
||||
self.mpc.mode = dec_mpc_mode
|
||||
|
||||
if len(sm['carControl'].orientationNED) == 3:
|
||||
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
|
||||
@@ -211,5 +205,3 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
longitudinalPlan.allowThrottle = bool(self.allow_throttle)
|
||||
|
||||
pm.send('longitudinalPlan', plan_send)
|
||||
|
||||
self.publish_longitudinal_plan_sp(sm, pm)
|
||||
|
||||
@@ -18,7 +18,7 @@ def main():
|
||||
|
||||
ldw = LaneDepartureWarning()
|
||||
longitudinal_planner = LongitudinalPlanner(CP)
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
|
||||
poll='modelV2', ignore_avg_freq=['radarState'])
|
||||
|
||||
|
||||
@@ -652,11 +652,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
},
|
||||
|
||||
EventName.brakeHold: {
|
||||
ET.WARNING: Alert(
|
||||
"Press Resume to Exit Brake Hold",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
|
||||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||||
ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
|
||||
},
|
||||
|
||||
EventName.parkBrake: {
|
||||
|
||||
-3
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
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oid sha256:6e1555145a4482e4148c2e7a5cdbf370720a3cf684f18686a50bf25de0b55650
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size 356302
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version https://git-lfs.github.com/spec/v1
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oid sha256:eb4235545588e617a82d698721503bdd048a5858da9d60b9b90eeecc8c969498
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size 356186
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version https://git-lfs.github.com/spec/v1
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oid sha256:0720a28167410da8dc5aa940f9ff916dcd3e1863ba4fb5b91c73ddf8c7e10c6c
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size 256451
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version https://git-lfs.github.com/spec/v1
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size 256426
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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size 308602
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version https://git-lfs.github.com/spec/v1
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size 308599
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size 392249
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size 255744
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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user