mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-25 05:22:13 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
ba6db36314 |
+1
-1
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="18.4"
|
||||
export AGNOS_VERSION="18.5"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
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||||
|
||||
@@ -1,20 +1,3 @@
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||||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
IFS=$'\n\t'
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||||
|
||||
# On any failure, run the fallback launcher
|
||||
trap 'exec ./launch_chffrplus.sh' ERR
|
||||
C3_LAUNCH_SH="./openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh"
|
||||
|
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MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
|
||||
export MODEL
|
||||
|
||||
if [ "$MODEL" = "comma tici" ]; then
|
||||
# Force a failure if the launcher doesn't exist
|
||||
[ -x "$C3_LAUNCH_SH" ] || false
|
||||
|
||||
# If it exists, run it
|
||||
exec "$C3_LAUNCH_SH"
|
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fi
|
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|
||||
exec ./launch_chffrplus.sh
|
||||
|
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Binary file not shown.
+11
-31
@@ -1,6 +1,6 @@
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
# Support Information for 421 Known Cars
|
||||
# Support Information for 401 Known Cars
|
||||
|
||||
|Make|Model|Package|Support Level|
|
||||
|---|---|---|:---:|
|
||||
@@ -34,21 +34,11 @@
|
||||
|Audi|Q5 2017-24|All|[Not compatible](#flexray)|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Cadillac|CT6 Non-ACC 2017-18|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
|
||||
|Cadillac|XT5 Non-ACC 2018|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|[Upstream](#upstream)|
|
||||
|Chevrolet|Bolt EUV LT Non-ACC 2022-23|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|[Upstream](#upstream)|
|
||||
|Chevrolet|Bolt EV LT Non-ACC 2022-23|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Bolt EV Non-ACC 2017|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Bolt EV Non-ACC 2018-21|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Equinox Non-ACC 2019-22|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Malibu Non-ACC 2016-23|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|
|
||||
|Chevrolet|Suburban Non-ACC 2016-20|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Trailblazer Non-ACC 2021-22|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
|
||||
@@ -86,7 +76,6 @@
|
||||
|Genesis|G70 2018|All|[Upstream](#upstream)|
|
||||
|Genesis|G70 2019-21|All|[Upstream](#upstream)|
|
||||
|Genesis|G70 2022-23|All|[Upstream](#upstream)|
|
||||
|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
|
||||
|Genesis|G80 2017|All|[Upstream](#upstream)|
|
||||
|Genesis|G80 2018-19|All|[Upstream](#upstream)|
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
@@ -116,7 +105,6 @@
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|[Upstream](#upstream)|
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
|
||||
|Honda|Civic Hybrid 2025-26|All|[Upstream](#upstream)|
|
||||
|Honda|Clarity 2018-21|All|[Community](community)|
|
||||
|Honda|Clarity 2018-21|All|[Community](#community)|
|
||||
|Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
|
||||
|Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
|
||||
@@ -140,19 +128,18 @@
|
||||
|Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Pilot 2023-25|All|[Upstream](#upstream)|
|
||||
|Honda|Pilot 2026|All|[Community](#community)|
|
||||
|Honda|Prologue 2024-25|All|[Not compatible](#can-bus-security)|
|
||||
|Honda|Prologue 2024-26|All|[Not compatible](#can-bus-security)|
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Ridgeline 2026|All|[Community](#community)|
|
||||
|Hyundai|Azera 2022|All|[Upstream](#upstream)|
|
||||
|Hyundai|Azera Hybrid 2019|All|[Upstream](#upstream)|
|
||||
|Hyundai|Azera Hybrid 2020|All|[Upstream](#upstream)|
|
||||
|Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
|
||||
|Hyundai|Custin 2023|All|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|[Upstream](#upstream)|
|
||||
@@ -167,13 +154,11 @@
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|[Upstream](#upstream)|
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|[Dashcam mode](#dashcam)|
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Hyundai|Nexo 2021|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2023-24|Highway Driving Assist II|[Community](#community)|
|
||||
@@ -199,14 +184,11 @@
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|[Upstream](#upstream)|
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|K7 2017|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
@@ -230,7 +212,6 @@
|
||||
|Kia|Optima Hybrid 2017|Advanced Smart Cruise Control|[Dashcam mode](#dashcam)|
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|[Upstream](#upstream)|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
@@ -278,14 +259,13 @@
|
||||
|Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
|
||||
|Nissan|Altima 2019-24|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|Leaf IC 2018-23|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Peugeot|208 2019-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Porsche|Macan 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Rivian|R1S 2022-24|All|[Upstream](#upstream)|
|
||||
|Rivian|R1T 2022-24|All|[Upstream](#upstream)|
|
||||
|SEAT|Alhambra 2018-20|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
@@ -296,16 +276,16 @@
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Crosstrek Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester 2019-21|All|[Upstream](#upstream)|
|
||||
|Subaru|Forester 2022-24|All|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Legacy 2020-22|All|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Outback 2020-22|All|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2023|All|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Solterra 2023-25|All|[Not compatible](#can-bus-security)|
|
||||
@@ -322,7 +302,7 @@
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Tesla|Model 3 (with HW3) 2019-23|All|[Upstream](#upstream)|
|
||||
|Tesla|Model 3 (with HW4) 2024-25|All|[Upstream](#upstream)|
|
||||
|Tesla|Model X (with HW4) 2024|All|[Community](community)|
|
||||
|Tesla|Model X (with HW4) 2024|All|[Dashcam mode](#dashcam)|
|
||||
|Tesla|Model Y (with HW3) 2020-23|All|[Upstream](#upstream)|
|
||||
|Tesla|Model Y (with HW4) 2024-25|All|[Upstream](#upstream)|
|
||||
|Toyota|Alphard 2019-20|All|[Upstream](#upstream)|
|
||||
|
||||
@@ -244,7 +244,9 @@ struct CarState {
|
||||
standstill @4 :Bool;
|
||||
nonAdaptive @5 :Bool;
|
||||
|
||||
speedOffsetDEPRECATED @3 :Float32;
|
||||
deprecated :group {
|
||||
speedOffset @3 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
@@ -281,17 +283,18 @@ struct CarState {
|
||||
}
|
||||
}
|
||||
|
||||
# deprecated
|
||||
errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
|
||||
gasDEPRECATED @3 :Float32;
|
||||
brakeDEPRECATED @5 :Float32;
|
||||
brakeLightsDEPRECATED @19 :Bool;
|
||||
steeringRateLimitedDEPRECATED @29 :Bool;
|
||||
canMonoTimesDEPRECATED @12: List(UInt64);
|
||||
canRcvTimeoutDEPRECATED @49 :Bool;
|
||||
eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
|
||||
clutchPressedDEPRECATED @28 :Bool;
|
||||
engineRpmDEPRECATED @46 :Float32;
|
||||
deprecated :group {
|
||||
errors @0 :List(OnroadEventDEPRECATED.EventName);
|
||||
gas @3 :Float32;
|
||||
brake @5 :Float32;
|
||||
brakeLights @19 :Bool;
|
||||
steeringRateLimited @29 :Bool;
|
||||
canMonoTimes @12: List(UInt64);
|
||||
canRcvTimeout @49 :Bool;
|
||||
events @13 :List(OnroadEventDEPRECATED);
|
||||
clutchPressed @28 :Bool;
|
||||
engineRpm @46 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
@@ -386,8 +389,11 @@ struct CarControl {
|
||||
cancel @0: Bool;
|
||||
resume @1: Bool;
|
||||
override @4: Bool;
|
||||
speedOverrideDEPRECATED @2: Float32;
|
||||
accelOverrideDEPRECATED @3: Float32;
|
||||
|
||||
deprecated :group {
|
||||
speedOverride @2: Float32;
|
||||
accelOverride @3: Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct HUDControl {
|
||||
@@ -434,13 +440,15 @@ struct CarControl {
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
activeDEPRECATED @7 :Bool;
|
||||
rollDEPRECATED @8 :Float32;
|
||||
pitchDEPRECATED @9 :Float32;
|
||||
actuatorsOutputDEPRECATED @10 :Actuators;
|
||||
deprecated :group {
|
||||
gas @1 :Float32;
|
||||
brake @2 :Float32;
|
||||
steeringTorque @3 :Float32;
|
||||
active @7 :Bool;
|
||||
roll @8 :Float32;
|
||||
pitch @9 :Float32;
|
||||
actuatorsOutput @10 :Actuators;
|
||||
}
|
||||
}
|
||||
|
||||
struct CarOutput {
|
||||
@@ -491,22 +499,16 @@ struct CarParams {
|
||||
lateralParams @48 :LateralParams;
|
||||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indiDEPRECATED @27 :LateralINDITuning;
|
||||
lqrDEPRECATED @40 :LateralLQRTuning;
|
||||
indiDEPRECATED @27 :LateralINDITuningDEPRECATED;
|
||||
lqrDEPRECATED @40 :LateralLQRTuningDEPRECATED;
|
||||
torque @67 :LateralTorqueTuning;
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
|
||||
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
|
||||
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
startAccel @32 :Float32; # Required acceleration to get car moving
|
||||
startingState @70 :Bool; # Does this car make use of special starting state
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
|
||||
@@ -529,8 +531,11 @@ struct CarParams {
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @3 :UInt16;
|
||||
safetyParamDEPRECATED @1 :Int16;
|
||||
safetyParam2DEPRECATED @2 :UInt32;
|
||||
|
||||
deprecated :group {
|
||||
safetyParam @1 :Int16;
|
||||
safetyParam2 @2 :UInt32;
|
||||
}
|
||||
}
|
||||
|
||||
struct LateralParams {
|
||||
@@ -551,11 +556,14 @@ struct CarParams {
|
||||
steeringAngleDeadzoneDeg @5 :Float32;
|
||||
latAccelFactor @6 :Float32;
|
||||
latAccelOffset @7 :Float32;
|
||||
useSteeringAngleDEPRECATED @0 :Bool;
|
||||
kpDEPRECATED @1 :Float32;
|
||||
kiDEPRECATED @2 :Float32;
|
||||
kfDEPRECATED @4 :Float32;
|
||||
kdDEPRECATED @8 : Float32;
|
||||
|
||||
deprecated :group {
|
||||
useSteeringAngle @0 :Bool;
|
||||
kp @1 :Float32;
|
||||
ki @2 :Float32;
|
||||
kf @4 :Float32;
|
||||
kd @8 : Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct LongitudinalPIDTuning {
|
||||
@@ -563,12 +571,15 @@ struct CarParams {
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kfDEPRECATED @6 :Float32;
|
||||
deadzoneBPDEPRECATED @4 :List(Float32);
|
||||
deadzoneVDEPRECATED @5 :List(Float32);
|
||||
|
||||
deprecated :group {
|
||||
kf @6 :Float32;
|
||||
deadzoneBP @4 :List(Float32);
|
||||
deadzoneV @5 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
struct LateralINDITuningDEPRECATED {
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
@@ -578,13 +589,15 @@ struct CarParams {
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
deprecated :group {
|
||||
outerLoopGain @0 :Float32;
|
||||
innerLoopGain @1 :Float32;
|
||||
timeConstant @2 :Float32;
|
||||
actuatorEffectiveness @3 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
struct LateralLQRTuningDEPRECATED {
|
||||
scale @0 :Float32;
|
||||
ki @1 :Float32;
|
||||
dcGain @2 :Float32;
|
||||
@@ -707,28 +720,36 @@ struct CarParams {
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
enableGasInterceptorDEPRECATED @2 :Bool;
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
enableApgsDEPRECATED @6 :Bool;
|
||||
steerRateCostDEPRECATED @33 :Float32;
|
||||
isPandaBlackDEPRECATED @39 :Bool;
|
||||
hasStockCameraDEPRECATED @57 :Bool;
|
||||
safetyParamDEPRECATED @10 :Int16;
|
||||
safetyModelDEPRECATED @9 :SafetyModel;
|
||||
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
|
||||
minSpeedCanDEPRECATED @51 :Float32;
|
||||
communityFeatureDEPRECATED @46: Bool;
|
||||
startingAccelRateDEPRECATED @53 :Float32;
|
||||
steerMaxBPDEPRECATED @11 :List(Float32);
|
||||
steerMaxVDEPRECATED @12 :List(Float32);
|
||||
gasMaxBPDEPRECATED @13 :List(Float32);
|
||||
gasMaxVDEPRECATED @14 :List(Float32);
|
||||
brakeMaxBPDEPRECATED @15 :List(Float32);
|
||||
brakeMaxVDEPRECATED @16 :List(Float32);
|
||||
directAccelControlDEPRECATED @30 :Bool;
|
||||
maxSteeringAngleDegDEPRECATED @54 :Float32;
|
||||
longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
|
||||
stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
|
||||
radarTimeStepDEPRECATED @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
enableDsuDEPRECATED @5 :Bool; # driving support unit
|
||||
deprecated :group {
|
||||
enableGasInterceptor @2 :Bool;
|
||||
enableCamera @4 :Bool;
|
||||
enableApgs @6 :Bool;
|
||||
steerLimitAlert @28 :Bool;
|
||||
steerRateCost @33 :Float32;
|
||||
isPandaBlack @39 :Bool;
|
||||
hasStockCamera @57 :Bool;
|
||||
safetyParam @10 :Int16;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = silent;
|
||||
minSpeedCan @51 :Float32;
|
||||
communityFeature @46: Bool;
|
||||
startingAccelRate @53 :Float32;
|
||||
steerMaxBP @11 :List(Float32);
|
||||
steerMaxV @12 :List(Float32);
|
||||
gasMaxBP @13 :List(Float32);
|
||||
gasMaxV @14 :List(Float32);
|
||||
brakeMaxBP @15 :List(Float32);
|
||||
brakeMaxV @16 :List(Float32);
|
||||
directAccelControl @30 :Bool;
|
||||
maxSteeringAngleDeg @54 :Float32;
|
||||
longitudinalActuatorDelayLowerBound @61 :Float32;
|
||||
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
|
||||
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
startAccel @32 :Float32; # Required acceleration to get car moving
|
||||
startingState @70 :Bool; # Does this car make use of special starting state
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
}
|
||||
}
|
||||
|
||||
@@ -52,7 +52,8 @@ class CAR(Platforms):
|
||||
CommunityCarDocs("Honda Accord Hybrid 2017"),
|
||||
CommunityCarDocs("Honda Clarity 2018-21"),
|
||||
CommunityCarDocs("Honda Pilot 2026"),
|
||||
GMSecurityCarDocs("Honda Prologue 2024-25"),
|
||||
GMSecurityCarDocs("Honda Prologue 2024-26"),
|
||||
CommunityCarDocs("Honda Ridgeline 2026"),
|
||||
],
|
||||
)
|
||||
|
||||
|
||||
@@ -97,7 +97,6 @@ class RadarInterface(RadarInterfaceBase):
|
||||
self.clusters: list[Cluster] = []
|
||||
|
||||
self.updated_messages = set()
|
||||
self.track_id = 0
|
||||
self.radar = DBC[CP.carFingerprint].get(Bus.radar)
|
||||
self.scan_index_invalid_cnt = 0
|
||||
self.radar_unavailable_cnt = 0
|
||||
|
||||
@@ -124,9 +124,6 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
|
||||
|
||||
# Tuning for experimental long
|
||||
ret.longitudinalTuning.kiV = [2.0, 1.5]
|
||||
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
|
||||
if alpha_long:
|
||||
ret.pcmCruise = False
|
||||
|
||||
@@ -198,13 +198,13 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.brake_switch_prev = brake_switch
|
||||
ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
|
||||
|
||||
ret.brakeDEPRECATED = cp.vl["VSA_STATUS"]["USER_BRAKE"]
|
||||
ret.deprecated.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
|
||||
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
|
||||
ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])
|
||||
|
||||
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
|
||||
if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
|
||||
if ret.brakeDEPRECATED > 0.1:
|
||||
if ret.deprecated.brake > 0.1:
|
||||
ret.brakePressed = True
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH:
|
||||
|
||||
@@ -14,7 +14,6 @@ def _create_nidec_can_parser(car_fingerprint):
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP, CP_SP):
|
||||
super().__init__(CP, CP_SP)
|
||||
self.track_id = 0
|
||||
self.radar_fault = False
|
||||
self.radar_wrong_config = False
|
||||
self.radar_off_can = CP.radarUnavailable
|
||||
|
||||
@@ -133,9 +133,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]
|
||||
ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
|
||||
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||||
ret.startingState = True
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.startAccel = 1.0
|
||||
ret.longitudinalActuatorDelay = 0.5
|
||||
|
||||
if ret.openpilotLongitudinalControl:
|
||||
|
||||
@@ -27,7 +27,6 @@ class RadarInterface(RadarInterfaceBase, RadarInterfaceExt):
|
||||
RadarInterfaceExt.__init__(self, CP, CP_SP)
|
||||
self.updated_messages = set()
|
||||
self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
|
||||
self.track_id = 0
|
||||
|
||||
self.radar_off_can = CP.radarUnavailable
|
||||
self.rcp = get_radar_can_parser(CP)
|
||||
|
||||
@@ -86,6 +86,7 @@ class RadarInterfaceBase(ABC):
|
||||
self.CP_SP = CP_SP
|
||||
self.rcp = None
|
||||
self.pts: dict[int, structs.RadarData.RadarPoint] = {}
|
||||
self.track_id: int = 0
|
||||
self.frame = 0
|
||||
|
||||
def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:
|
||||
@@ -245,9 +246,6 @@ class CarInterfaceBase(ABC, CarInterfaceBaseSP):
|
||||
ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA
|
||||
ret.openpilotLongitudinalControl = False
|
||||
ret.stopAccel = -2.0
|
||||
ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
|
||||
ret.vEgoStopping = 0.5
|
||||
ret.vEgoStarting = 0.5
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kpV = [0.]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
|
||||
@@ -36,7 +36,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[0].safetyParam |= RivianSafetyFlags.LONG_CONTROL.value
|
||||
|
||||
ret.longitudinalActuatorDelay = 0.35
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.stopAccel = 0
|
||||
|
||||
return ret
|
||||
|
||||
@@ -19,7 +19,6 @@ class RadarInterface(RadarInterfaceBase):
|
||||
super().__init__(CP, CP_SP)
|
||||
self.updated_messages = set()
|
||||
self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
|
||||
self.track_id = 0
|
||||
|
||||
self.radar_off_can = CP.radarUnavailable
|
||||
self.rcp = get_radar_can_parser(CP)
|
||||
|
||||
@@ -41,10 +41,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value
|
||||
|
||||
ret.vEgoStopping = 0.1
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.stoppingDecelRate = 0.3
|
||||
|
||||
fsd_14 = any(fw.ecu == Ecu.eps and fw.fwVersion in FSD_14_FW.get(candidate, []) for fw in car_fw)
|
||||
if fsd_14:
|
||||
ret.flags |= TeslaFlags.FSD_14.value
|
||||
|
||||
@@ -26,7 +26,6 @@ class RadarInterface(RadarInterfaceBase):
|
||||
super().__init__(CP, CP_SP)
|
||||
self.updated_messages = set()
|
||||
self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
|
||||
self.track_id = 0
|
||||
|
||||
self.radar_off_can = CP.radarUnavailable
|
||||
self.rcp = get_radar_can_parser(CP)
|
||||
|
||||
@@ -119,10 +119,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if candidate in TSS2_CAR:
|
||||
ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
|
||||
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
|
||||
|
||||
# Hybrids have much quicker longitudinal actuator response
|
||||
if ret.flags & ToyotaFlags.HYBRID.value:
|
||||
ret.longitudinalActuatorDelay = 0.05
|
||||
|
||||
@@ -26,7 +26,6 @@ def _create_radar_can_parser(car_fingerprint):
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP, CP_SP):
|
||||
super().__init__(CP, CP_SP)
|
||||
self.track_id = 0
|
||||
|
||||
if CP.carFingerprint in TSS2_CAR:
|
||||
self.RADAR_A_MSGS = list(range(0x180, 0x190))
|
||||
|
||||
@@ -138,7 +138,8 @@ class CarController(CarControllerBase):
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
starting = actuators.longControlState == LongCtrlState.starting and CS.out.vEgo <= self.CP.vEgoStarting
|
||||
# only send ACC_HMS_RELEASE when in cruise standstill and want to resume
|
||||
starting = actuators.longControlState == LongCtrlState.pid and CS.esp_hold_confirmation
|
||||
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.enabled else 0)
|
||||
|
||||
long_override = CC.cruiseControl.override or CS.out.gasPressed
|
||||
@@ -148,11 +149,10 @@ class CarController(CarControllerBase):
|
||||
self.long_disabled_counter = min(self.long_disabled_counter + 1, 5) if not CC.enabled else 0
|
||||
long_disabling = not CC.enabled and self.long_disabled_counter < 5
|
||||
|
||||
acc_control = mebcan.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, long_override)
|
||||
acc_hold_type = mebcan.acc_hold_type(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, starting, stopping,
|
||||
CS.esp_hold_confirmation, long_override, long_override_begin, long_disabling)
|
||||
can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.enabled,
|
||||
4.0, 4.0, 0., 0.,
|
||||
acc_control = mebcan.get_acc_control(CS.out, CC, long_override)
|
||||
acc_hold_type = mebcan.get_acc_hold_type(CS.out, CC, starting, stopping,
|
||||
CS.esp_hold_confirmation, long_override, long_override_begin, long_disabling)
|
||||
can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, self.CCP, CS.acc_type, CC.enabled,
|
||||
accel, acc_control, acc_hold_type, stopping, starting, CS.esp_hold_confirmation,
|
||||
CS.out.vEgoRaw * CV.MS_TO_KPH, long_override, CS.travel_assist_available))
|
||||
self.accel_last = accel
|
||||
@@ -160,7 +160,7 @@ class CarController(CarControllerBase):
|
||||
else:
|
||||
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
|
||||
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
|
||||
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < 0.25)
|
||||
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
|
||||
acc_control, stopping, starting, CS.esp_hold_confirmation))
|
||||
|
||||
@@ -189,8 +189,7 @@ class CarController(CarControllerBase):
|
||||
lead_distance = 0
|
||||
if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:
|
||||
lead_distance = 8
|
||||
acc_hud_status = mebcan.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled,
|
||||
CC.cruiseControl.override or CS.out.gasPressed)
|
||||
acc_hud_status = mebcan.get_acc_hud_status(CS.out, CC, CC.cruiseControl.override or CS.out.gasPressed)
|
||||
can_sends.append(mebcan.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, hud_control.setSpeed * CV.MS_TO_KPH,
|
||||
hud_control.leadVisible, hud_control.leadDistanceBars + 1, show_distance_bars,
|
||||
CS.esp_hold_confirmation, lead_distance, 0, fcw_alert))
|
||||
|
||||
@@ -298,7 +298,8 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.speed = 0
|
||||
else:
|
||||
ret.cruiseState.nonAdaptive = bool(pt_cp.vl["Motor_51"]["TSK_Limiter_ausgewaehlt"])
|
||||
accFaulted = pt_cp.vl["Motor_51"]["TSK_Status"] in (6, 7)
|
||||
accFaulted = (pt_cp.vl["Motor_51"]["TSK_Status"] in (6, 7) or
|
||||
ext_cp.vl["ACC_19"]["ACC_Status_ACC"] == 6) # reversible fault in ACC system
|
||||
ret.accFaulted = self.update_acc_fault(accFaulted, parking_brake=ret.parkingBrake, drive_mode=drive_mode,
|
||||
brake_pressed=ret.brakePressed)
|
||||
|
||||
|
||||
@@ -1,12 +1,14 @@
|
||||
from opendbc.car import get_safety_config, structs
|
||||
from opendbc.car import Bus, get_safety_config, structs
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.car.volkswagen.carcontroller import CarController
|
||||
from opendbc.car.volkswagen.carstate import CarState
|
||||
from opendbc.car.volkswagen.values import CanBus, CAR, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
|
||||
from opendbc.car.volkswagen.radar_interface import RadarInterface
|
||||
from opendbc.car.volkswagen.values import CanBus, CAR, DBC, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
DRIVABLE_GEARS = (structs.CarState.GearShifter.eco, structs.CarState.GearShifter.sport,
|
||||
structs.CarState.GearShifter.manumatic)
|
||||
@@ -14,7 +16,7 @@ class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.brand = "volkswagen"
|
||||
ret.radarUnavailable = True
|
||||
ret.radarUnavailable = Bus.radar not in DBC[candidate]
|
||||
|
||||
if ret.flags & VolkswagenFlags.PQ:
|
||||
# Set global PQ35/PQ46/NMS parameters
|
||||
@@ -61,6 +63,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
else:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarUnavailable = True
|
||||
|
||||
ret.enableBsm = 0x24C in fingerprint[0] # MEB_Side_Assist_01
|
||||
|
||||
@@ -130,13 +133,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.07
|
||||
|
||||
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||||
if ret.flags & VolkswagenFlags.MEB:
|
||||
ret.startingState = True
|
||||
ret.startAccel = 0.8
|
||||
else:
|
||||
ret.stopAccel = -0.55
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.vEgoStopping = 0.5
|
||||
ret.stopAccel = -0.55
|
||||
ret.autoResumeSng = ret.minEnableSpeed == -1
|
||||
|
||||
CAN = CanBus(fingerprint=fingerprint)
|
||||
|
||||
@@ -69,9 +69,6 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resu
|
||||
return packer.make_can_msg("GRA_ACC_01", bus, values)
|
||||
|
||||
|
||||
ACCEL_INACTIVE = 3.01
|
||||
ACCEL_OVERRIDE = 0.00
|
||||
|
||||
ACC_CTRL_ERROR = 6
|
||||
ACC_CTRL_OVERRIDE = 4
|
||||
ACC_CTRL_ACTIVE = 3
|
||||
@@ -90,50 +87,48 @@ ACC_HUD_ENABLED = 2
|
||||
ACC_HUD_DISABLED = 0
|
||||
|
||||
|
||||
def acc_control_value(main_switch_on, acc_faulted, long_active, override):
|
||||
|
||||
if acc_faulted:
|
||||
acc_control = ACC_CTRL_ERROR # error state
|
||||
elif long_active:
|
||||
if override:
|
||||
acc_control = ACC_CTRL_OVERRIDE # overriding
|
||||
def get_acc_control(CS, CC, long_override):
|
||||
if CS.accFaulted:
|
||||
acc_control = ACC_CTRL_ERROR # error state
|
||||
elif CC.enabled:
|
||||
if long_override:
|
||||
acc_control = ACC_CTRL_OVERRIDE # overriding
|
||||
else:
|
||||
acc_control = ACC_CTRL_ACTIVE # active long control state
|
||||
elif main_switch_on:
|
||||
acc_control = ACC_CTRL_ENABLED # long control ready
|
||||
acc_control = ACC_CTRL_ACTIVE # active long control state
|
||||
elif CS.cruiseState.available:
|
||||
acc_control = ACC_CTRL_ENABLED # long control ready
|
||||
else:
|
||||
acc_control = ACC_CTRL_DISABLED # long control deactivated state
|
||||
acc_control = ACC_CTRL_DISABLED # long control deactivated state
|
||||
|
||||
return acc_control
|
||||
|
||||
|
||||
def acc_hold_type(main_switch_on, acc_faulted, long_active, starting, stopping, esp_hold, override, override_begin, long_disabling):
|
||||
def get_acc_hold_type(CS, CC, starting, stopping, esp_hold, long_override, long_override_begin, long_disabling):
|
||||
# warning: car is reacting to hold mechanic even with long control off
|
||||
|
||||
if acc_faulted:
|
||||
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
|
||||
elif not long_active:
|
||||
if CS.accFaulted:
|
||||
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
|
||||
elif not CC.enabled:
|
||||
if long_disabling:
|
||||
acc_hold_type = ACC_HMS_RAMP_RELEASE # ramp release of requests right after disabling long control (prevents car error with EPB at low speed)
|
||||
acc_hold_type = ACC_HMS_RAMP_RELEASE # ramp release of requests right after disabling long control (prevents car error with EPB at low speed)
|
||||
else:
|
||||
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
|
||||
elif override:
|
||||
if override_begin:
|
||||
acc_hold_type = ACC_HMS_RAMP_RELEASE # ramp release of requests at the beginning of override (prevents car error with EPB at low speed)
|
||||
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
|
||||
elif long_override:
|
||||
if long_override_begin:
|
||||
acc_hold_type = ACC_HMS_RAMP_RELEASE # ramp release of requests at the beginning of override (prevents car error with EPB at low speed)
|
||||
else:
|
||||
acc_hold_type = ACC_HMS_NO_REQUEST # overriding / no request
|
||||
acc_hold_type = ACC_HMS_NO_REQUEST # overriding / no request
|
||||
elif starting:
|
||||
acc_hold_type = ACC_HMS_RELEASE # release request and startup
|
||||
elif stopping or esp_hold:
|
||||
acc_hold_type = ACC_HMS_HOLD # hold or hold request
|
||||
acc_hold_type = ACC_HMS_RELEASE # release request and startup
|
||||
elif stopping:
|
||||
acc_hold_type = ACC_HMS_HOLD # hold while stopping/stopped
|
||||
else:
|
||||
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
|
||||
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
|
||||
|
||||
return acc_hold_type
|
||||
|
||||
|
||||
def create_acc_accel_control(packer, bus, acc_type, acc_enabled, upper_jerk, lower_jerk, upper_control_limit, lower_control_limit,
|
||||
accel, acc_control, acc_hold_type, stopping, starting, esp_hold, speed, override, travel_assist_available):
|
||||
def create_acc_accel_control(packer, bus, CCP, acc_type, acc_enabled, accel, acc_control, acc_hold_type,
|
||||
stopping, starting, esp_hold, speed, long_override, travel_assist_available):
|
||||
# active longitudinal control disables one pedal driving (regen mode) while using overriding mechanism
|
||||
# error mitigation when stopping or stopped: (newer gen cars can be very sensitive)
|
||||
# - send 0 m stopping distance for cars in kind of parameterized stopping mode (stopping accel -0.2 seen for those cars)
|
||||
@@ -146,30 +141,30 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, upper_jerk, low
|
||||
# ACC_Anhalteweg: when stopping: MEB: values <> 0 the car can execute a hard brake probably if target is too close, MQBEvo: value 0 results in hard brake
|
||||
terminal_rollout = 0
|
||||
|
||||
full_stop = stopping and esp_hold
|
||||
full_stop = stopping and esp_hold
|
||||
full_stop_no_start = esp_hold and not starting
|
||||
actually_stopping = stopping and not esp_hold
|
||||
actually_stopping = stopping and not esp_hold
|
||||
|
||||
if acc_enabled:
|
||||
if override: # the car expects a non inactive accel while overriding
|
||||
acceleration = ACCEL_OVERRIDE # original ACC still sends active accel in this case (seamless experience)
|
||||
if long_override: # the car expects a non-inactive accel while overriding
|
||||
acceleration = CCP.ACCEL_OVERRIDE # original ACC still sends active accel in this case (seamless experience)
|
||||
elif full_stop:
|
||||
acceleration = ACCEL_INACTIVE # inactive accel, newer gen >2024 error of not neutral value
|
||||
acceleration = CCP.ACCEL_INACTIVE # inactive accel, newer gen >2024 error of not neutral value
|
||||
else:
|
||||
acceleration = accel
|
||||
else:
|
||||
acceleration = ACCEL_INACTIVE # inactive accel
|
||||
acceleration = CCP.ACCEL_INACTIVE # inactive accel
|
||||
|
||||
values = {
|
||||
"ACC_Typ": acc_type,
|
||||
"ACC_Status_ACC": acc_control,
|
||||
"ACC_StartStopp_Info": acc_enabled,
|
||||
"ACC_Sollbeschleunigung_02": acceleration,
|
||||
"ACC_zul_Regelabw_unten": lower_control_limit if acc_control in (ACC_CTRL_ACTIVE, ACC_CTRL_OVERRIDE) and not full_stop_no_start else 0,
|
||||
"ACC_zul_Regelabw_oben": upper_control_limit if acc_control in (ACC_CTRL_ACTIVE, ACC_CTRL_OVERRIDE) and not full_stop_no_start else 0,
|
||||
"ACC_neg_Sollbeschl_Grad_02": lower_jerk if acc_control in (ACC_CTRL_ACTIVE, ACC_CTRL_OVERRIDE) and not full_stop_no_start else 0,
|
||||
"ACC_pos_Sollbeschl_Grad_02": upper_jerk if acc_control in (ACC_CTRL_ACTIVE, ACC_CTRL_OVERRIDE) and not full_stop_no_start else 0,
|
||||
"ACC_Anfahren": starting,
|
||||
"ACC_zul_Regelabw_unten": 0,
|
||||
"ACC_zul_Regelabw_oben": 0,
|
||||
"ACC_neg_Sollbeschl_Grad_02": CCP.JERK_LIMIT if acc_control in (ACC_CTRL_ACTIVE, ACC_CTRL_OVERRIDE) and not full_stop_no_start else 0,
|
||||
"ACC_pos_Sollbeschl_Grad_02": CCP.JERK_LIMIT if acc_control in (ACC_CTRL_ACTIVE, ACC_CTRL_OVERRIDE) and not full_stop_no_start else 0,
|
||||
"ACC_Anfahren": 0, # always zero, stock uses ACC_Anforderung_HMS
|
||||
"ACC_Anhalten": 1 if actually_stopping else 0,
|
||||
"ACC_Anhalteweg": terminal_rollout if actually_stopping else 20.46,
|
||||
"ACC_Anforderung_HMS": acc_hold_type,
|
||||
@@ -195,19 +190,18 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, upper_jerk, low
|
||||
return commands
|
||||
|
||||
|
||||
def acc_hud_status_value(main_switch_on, acc_faulted, long_active, override):
|
||||
|
||||
if acc_faulted:
|
||||
acc_hud_control = ACC_HUD_ERROR # error state
|
||||
elif long_active:
|
||||
if override:
|
||||
acc_hud_control = ACC_HUD_OVERRIDE # overriding
|
||||
def get_acc_hud_status(CS, CC, long_override):
|
||||
if CS.accFaulted:
|
||||
acc_hud_control = ACC_HUD_ERROR # error state
|
||||
elif CC.enabled:
|
||||
if long_override:
|
||||
acc_hud_control = ACC_HUD_OVERRIDE # overriding
|
||||
else:
|
||||
acc_hud_control = ACC_HUD_ACTIVE # active
|
||||
elif main_switch_on:
|
||||
acc_hud_control = ACC_HUD_ENABLED # inactive
|
||||
acc_hud_control = ACC_HUD_ACTIVE # active
|
||||
elif CS.cruiseState.available:
|
||||
acc_hud_control = ACC_HUD_ENABLED # inactive
|
||||
else:
|
||||
acc_hud_control = ACC_HUD_DISABLED # deactivated
|
||||
acc_hud_control = ACC_HUD_DISABLED # deactivated
|
||||
|
||||
return acc_hud_control
|
||||
|
||||
@@ -223,7 +217,6 @@ def get_desired_gap(distance_bars, desired_gap, current_gap_signal):
|
||||
|
||||
|
||||
def create_acc_hud_control(packer, bus, acc_control, set_speed, lead_visible, distance_bars, show_distance_bars, esp_hold, distance, desired_gap, fcw_alert):
|
||||
|
||||
values = {
|
||||
"ACC_Status_ACC": acc_control,
|
||||
"ACC_Tempolimit": 0,
|
||||
|
||||
@@ -0,0 +1,85 @@
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.interfaces import RadarInterfaceBase
|
||||
from opendbc.car.volkswagen.values import DBC, VolkswagenFlags, CanBus
|
||||
|
||||
NO_OBJECT_ID = 0
|
||||
LANE_TYPES = ("Same_Lane", "Left_Lane", "Right_Lane")
|
||||
SIGNAL_SETS = tuple(
|
||||
(
|
||||
f"{prefix}_ObjectID",
|
||||
f"{prefix}_Long_Distance",
|
||||
f"{prefix}_Lat_Distance",
|
||||
f"{prefix}_Rel_Velo",
|
||||
)
|
||||
for lane in LANE_TYPES
|
||||
for idx in (1, 2)
|
||||
for prefix in (f"{lane}_0{idx}",)
|
||||
)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP, CP_SP):
|
||||
super().__init__(CP, CP_SP)
|
||||
|
||||
# With the MEB gateway harness, we do not have access to the raw points from the radar.
|
||||
# However, the camera publishes decent, albeit filtered, tracks. Two for each lane; left, center, and right.
|
||||
self.rcp: CANParser | None = None
|
||||
if CP.flags & VolkswagenFlags.MEB and not self.CP.radarUnavailable:
|
||||
self.rcp = CANParser(DBC[CP.carFingerprint][Bus.radar], [("MEB_Distance_01", 25)], CanBus(CP).cam)
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None:
|
||||
return super().update(None)
|
||||
|
||||
self.rcp.update(can_strings)
|
||||
|
||||
if len(self.rcp.vl_all["MEB_Distance_01"]["Distance_Status"]) == 0:
|
||||
return None
|
||||
|
||||
return self._update()
|
||||
|
||||
def _update(self):
|
||||
ret = structs.RadarData()
|
||||
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
return ret
|
||||
|
||||
msg = self.rcp.vl["MEB_Distance_01"]
|
||||
|
||||
# Can be 3 when radar sensor is obstructed
|
||||
if msg["Distance_Status"] != 0:
|
||||
ret.errors.radarUnavailableTemporary = True
|
||||
|
||||
seen_ids = set()
|
||||
for obj_id_sig, long_sig, lat_sig, vel_sig in SIGNAL_SETS:
|
||||
obj_id = int(msg[obj_id_sig])
|
||||
if obj_id == NO_OBJECT_ID:
|
||||
continue
|
||||
|
||||
# We shouldn't see duplicate track ids
|
||||
if obj_id in seen_ids:
|
||||
ret.errors.radarFault = True
|
||||
return ret
|
||||
|
||||
seen_ids.add(obj_id)
|
||||
|
||||
if obj_id not in self.pts:
|
||||
pt = structs.RadarData.RadarPoint()
|
||||
pt.trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[obj_id] = pt
|
||||
else:
|
||||
pt = self.pts[obj_id]
|
||||
|
||||
pt.dRel = msg[long_sig]
|
||||
pt.yRel = msg[lat_sig]
|
||||
pt.vRel = msg[vel_sig]
|
||||
|
||||
inactive_ids = self.pts.keys() - seen_ids
|
||||
for obj_id in inactive_ids:
|
||||
self.pts.pop(obj_id, None)
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
return ret
|
||||
@@ -113,6 +113,11 @@ class CarControllerParams:
|
||||
self.CURVATURE_MAX = 0.195 # Max curvature for steering command, m^-1
|
||||
self.CURVATURE_LIMITS = CurvatureSteeringLimits(self.CURVATURE_MAX)
|
||||
|
||||
# Longitudinal constants
|
||||
self.ACCEL_INACTIVE = 3.01 # m/s^2
|
||||
self.ACCEL_OVERRIDE = 0.00 # m/s^2
|
||||
self.JERK_LIMIT = 4.0 # m/s^3
|
||||
|
||||
self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
|
||||
self.hca_status_values = can_define.dv["QFK_01"]["LatCon_HCA_Status"]
|
||||
|
||||
|
||||
@@ -334,24 +334,24 @@ BO_ 591 MEB_Distance_01: 64 XXX
|
||||
SG_ Right_Lane_02_ObjectID : 46|6@1+ (1,0) [0|63] "Unit_ObjectID" XXX
|
||||
SG_ Unknown_02 : 52|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Unknown_03 : 54|10@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Same_Lane_01_Long_Distance : 64|12@1+ (0.07,-6) [0|300] "Unit_Meter" XXX
|
||||
SG_ Same_Lane_01_Long_Distance : 64|12@1+ (0.0625,-3.75) [0|300] "Unit_Meter" XXX
|
||||
SG_ Same_Lane_01_Lat_Distance : 76|10@1+ (0.065,-33.28) [-50|50] "Unit_Meter" XXX
|
||||
SG_ Same_Lane_01_Rel_Velo : 86|10@1+ (0.28,-143.36) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Left_Lane_01_Long_Distance : 96|12@1+ (0.07,-6) [0|300] "Unit_Meter" XXX
|
||||
SG_ Same_Lane_01_Rel_Velo : 86|10@1+ (0.25,-128) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Left_Lane_01_Long_Distance : 96|12@1+ (0.0625,-3.75) [0|300] "Unit_Meter" XXX
|
||||
SG_ Left_Lane_01_Lat_Distance : 108|10@1+ (0.065,-33.28) [-50|50] "Unit_Meter" XXX
|
||||
SG_ Left_Lane_01_Rel_Velo : 118|10@1+ (0.28,-143.36) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Right_Lane_01_Long_Distance : 128|12@1+ (0.07,-6) [0|300] "Unit_Meter" XXX
|
||||
SG_ Left_Lane_01_Rel_Velo : 118|10@1+ (0.25,-128) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Right_Lane_01_Long_Distance : 128|12@1+ (0.0625,-3.75) [0|300] "Unit_Meter" XXX
|
||||
SG_ Right_Lane_01_Lat_Distance : 140|10@1+ (0.065,-33.28) [-50|50] "Unit_Meter" XXX
|
||||
SG_ Right_Lane_01_Rel_Velo : 150|10@1+ (0.28,-143.36) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Same_Lane_02_Long_Distance : 160|12@1+ (0.07,-6) [0|300] "Unit_Meter" XXX
|
||||
SG_ Right_Lane_01_Rel_Velo : 150|10@1+ (0.25,-128) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Same_Lane_02_Long_Distance : 160|12@1+ (0.0625,-3.75) [0|300] "Unit_Meter" XXX
|
||||
SG_ Same_Lane_02_Lat_Distance : 172|10@1+ (0.065,-33.28) [-50|50] "Unit_Meter" XXX
|
||||
SG_ Same_Lane_02_Rel_Velo : 182|10@1+ (0.28,-143.36) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Left_Lane_02_Long_Distance : 192|12@1+ (0.07,-6) [0|300] "Unit_Meter" XXX
|
||||
SG_ Same_Lane_02_Rel_Velo : 182|10@1+ (0.25,-128) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Left_Lane_02_Long_Distance : 192|12@1+ (0.0625,-3.75) [0|300] "Unit_Meter" XXX
|
||||
SG_ Left_Lane_02_Lat_Distance : 204|10@1+ (0.065,-33.28) [-50|50] "Unit_Meter" XXX
|
||||
SG_ Left_Lane_02_Rel_Velo : 214|10@1+ (0.28,-143.36) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Right_Lane_02_Long_Distance : 224|12@1+ (0.07,-6) [0|300] "Unit_Meter" XXX
|
||||
SG_ Left_Lane_02_Rel_Velo : 214|10@1+ (0.25,-128) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Right_Lane_02_Long_Distance : 224|12@1+ (0.0625,-3.75) [0|300] "Unit_Meter" XXX
|
||||
SG_ Right_Lane_02_Lat_Distance : 236|10@1+ (0.065,-33.28) [-50|50] "Unit_Meter" XXX
|
||||
SG_ Right_Lane_02_Rel_Velo : 246|10@1+ (0.28,-143.36) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Right_Lane_02_Rel_Velo : 246|10@1+ (0.25,-128) [-150|150] "Unit_MeterPerSecond" XXX
|
||||
SG_ Unknown_04 : 256|8@1+ (1,-128) [0|31] "" XXX
|
||||
SG_ Unknown_05 : 264|6@1+ (1,-15) [0|31] "" XXX
|
||||
SG_ Unknown_06 : 270|6@1+ (1,0) [0|127] "" XXX
|
||||
|
||||
@@ -39,11 +39,11 @@ This standard provides the foundation for the safety limits enforced by this tun
|
||||
|
||||
**Configuration (`config.py`)**
|
||||
|
||||
* The `CarTuningConfig` dataclass holds tuning parameters like stopping/starting speeds, lookahead jerk profiles, actuator delay, and base jerk limits.
|
||||
* The `CarTuningConfig` dataclass holds tuning parameters like lookahead jerk profiles, actuator delay, and base jerk limits.
|
||||
* `TUNING_CONFIGS` provides default configurations based on car type (CANFD, EV, HYBRID, DEFAULT).
|
||||
* `CAR_SPECIFIC_CONFIGS` allows overriding defaults for specific car models (e.g., `KIA_NIRO_EV`, `HYUNDAI_IONIQ`).
|
||||
* `CAR_SPECIFIC_CONFIGS` allows overriding defaults for specific car models (e.g., `KIA_NIRO_EV`).
|
||||
* The `get_car_config` helper function selects the appropriate configuration based on the car fingerprint and flags.
|
||||
* `get_longitudinal_tune` applies relevant config values (like stopping/starting speeds, delay) to the main `CarParams` (CP).
|
||||
* `get_longitudinal_tune` applies the actuator delay config value to the main `CarParams` (CP).
|
||||
|
||||
**Summary**
|
||||
|
||||
|
||||
@@ -12,9 +12,6 @@ from opendbc.car.hyundai.values import CAR
|
||||
|
||||
@dataclass
|
||||
class CarTuningConfig:
|
||||
v_ego_stopping: float = 0.25
|
||||
v_ego_starting: float = 0.10
|
||||
stopping_decel_rate: float = 0.40
|
||||
lookahead_jerk_bp: list[float] = field(default_factory=lambda: [2., 5., 20.])
|
||||
lookahead_jerk_upper_v: list[float] = field(default_factory=lambda: [0.3, 0.45, 0.6])
|
||||
lookahead_jerk_lower_v: list[float] = field(default_factory=lambda: [0.3, 0.45, 0.6])
|
||||
@@ -24,32 +21,18 @@ class CarTuningConfig:
|
||||
|
||||
# Default configurations for different car types
|
||||
TUNING_CONFIGS = {
|
||||
"CANFD": CarTuningConfig(
|
||||
v_ego_stopping=0.30,
|
||||
),
|
||||
"EV": CarTuningConfig(
|
||||
stopping_decel_rate=0.45,
|
||||
v_ego_stopping=0.35,
|
||||
),
|
||||
"HYBRID": CarTuningConfig(
|
||||
v_ego_starting=0.15,
|
||||
stopping_decel_rate=0.45,
|
||||
v_ego_stopping=0.4,
|
||||
),
|
||||
"DEFAULT": CarTuningConfig(
|
||||
v_ego_stopping=0.3,
|
||||
)
|
||||
"CANFD": CarTuningConfig(),
|
||||
"EV": CarTuningConfig(),
|
||||
"HYBRID": CarTuningConfig(),
|
||||
"DEFAULT": CarTuningConfig(),
|
||||
}
|
||||
|
||||
# Car-specific configs
|
||||
CAR_SPECIFIC_CONFIGS = {
|
||||
CAR.KIA_NIRO_EV: CarTuningConfig(
|
||||
v_ego_stopping=0.1,
|
||||
stopping_decel_rate=0.3,
|
||||
jerk_limits=3.3,
|
||||
),
|
||||
CAR.KIA_NIRO_PHEV_2022: CarTuningConfig(
|
||||
stopping_decel_rate=0.8,
|
||||
jerk_limits=5.0,
|
||||
),
|
||||
}
|
||||
|
||||
@@ -5,7 +5,6 @@ This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from opendbc.car import structs, DT_CTRL, rate_limit
|
||||
from opendbc.car.hyundai.values import HyundaiFlags
|
||||
from opendbc.sunnypilot.car.hyundai.longitudinal.config import CarTuningConfig, TUNING_CONFIGS, CAR_SPECIFIC_CONFIGS
|
||||
|
||||
JERK_THRESHOLD = 0.1
|
||||
@@ -23,24 +22,13 @@ def get_car_config(CP: structs.CarParams) -> CarTuningConfig:
|
||||
car_config = CAR_SPECIFIC_CONFIGS.get(CP.carFingerprint)
|
||||
# If car is not in specific configs, determine from flags
|
||||
if car_config is None:
|
||||
if CP.flags & HyundaiFlags.CANFD:
|
||||
car_config = TUNING_CONFIGS["CANFD"]
|
||||
elif CP.flags & HyundaiFlags.EV:
|
||||
car_config = TUNING_CONFIGS["EV"]
|
||||
elif CP.flags & HyundaiFlags.HYBRID:
|
||||
car_config = TUNING_CONFIGS["HYBRID"]
|
||||
else:
|
||||
car_config = TUNING_CONFIGS["DEFAULT"]
|
||||
car_config = TUNING_CONFIGS["DEFAULT"]
|
||||
|
||||
return car_config
|
||||
|
||||
|
||||
def get_longitudinal_tune(CP: structs.CarParams) -> None:
|
||||
config = get_car_config(CP)
|
||||
CP.vEgoStopping = config.v_ego_stopping
|
||||
CP.vEgoStarting = config.v_ego_starting
|
||||
CP.stoppingDecelRate = config.stopping_decel_rate
|
||||
CP.startingState = False
|
||||
CP.longitudinalActuatorDelay = config.longitudinal_actuator_delay
|
||||
|
||||
|
||||
|
||||
Generated
+80
-80
@@ -97,11 +97,11 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "codespell"
|
||||
version = "2.4.2"
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|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -115,14 +115,14 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "colorlog"
|
||||
version = "6.10.1"
|
||||
version = "6.11.0"
|
||||
source = { registry = "https://pypi.org/simple" }
|
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wheels = [
|
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|
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{ url = "https://files.pythonhosted.org/packages/ec/a1/6b71004ab0fea510230be9ce05a4059029ac847c009fcc80b1b73d6fa5ab/colorlog-6.11.0-py3-none-any.whl", hash = "sha256:f1e27d75aa2cb138f3f640c0e305b65b680ccbef6ecc034eba7e03494ffcd2a1", size = 12016, upload-time = "2026-07-17T12:16:45.3Z" },
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]
|
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|
||||
[[package]]
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||||
@@ -141,41 +141,41 @@ requires-dist = [{ name = "requests" }]
|
||||
|
||||
[[package]]
|
||||
name = "coverage"
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version = "7.15.1"
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wheels = [
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[[package]]
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+2044
-1602
File diff suppressed because it is too large
Load Diff
+2663
-1627
File diff suppressed because it is too large
Load Diff
@@ -8366,7 +8366,7 @@ const ::capnp::_::RawSchema s_b52430dc48f4a83b = {
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7, 14, i_b52430dc48f4a83b, nullptr, nullptr, { &s_b52430dc48f4a83b, nullptr, nullptr, 0, 0, nullptr }, false
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};
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#endif // !CAPNP_LITE
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static const ::capnp::_::AlignedData<67> b_e9e600c8b9e6b62d = {
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static const ::capnp::_::AlignedData<72> b_e9e600c8b9e6b62d = {
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{ 0, 0, 0, 0, 5, 0, 6, 0,
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45, 182, 230, 185, 200, 0, 230, 233,
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25, 0, 0, 0, 2, 0, 0, 0,
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||||
@@ -8376,7 +8376,7 @@ static const ::capnp::_::AlignedData<67> b_e9e600c8b9e6b62d = {
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21, 0, 0, 0, 50, 1, 0, 0,
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37, 0, 0, 0, 7, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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33, 0, 0, 0, 247, 0, 0, 0,
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33, 0, 0, 0, 15, 1, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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||||
108, 111, 103, 46, 99, 97, 112, 110,
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||||
@@ -8385,36 +8385,39 @@ static const ::capnp::_::AlignedData<67> b_e9e600c8b9e6b62d = {
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||||
46, 65, 117, 100, 105, 98, 108, 101,
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65, 108, 101, 114, 116, 0, 0, 0,
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0, 0, 0, 0, 1, 0, 1, 0,
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40, 0, 0, 0, 1, 0, 2, 0,
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125, 0, 0, 0, 42, 0, 0, 0,
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1, 0, 0, 0, 0, 0, 0, 0,
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105, 0, 0, 0, 58, 0, 0, 0,
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117, 0, 0, 0, 58, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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2, 0, 0, 0, 0, 0, 0, 0,
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97, 0, 0, 0, 82, 0, 0, 0,
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109, 0, 0, 0, 82, 0, 0, 0,
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105, 0, 0, 0, 58, 0, 0, 0,
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4, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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6, 0, 0, 0, 0, 0, 0, 0,
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81, 0, 0, 0, 58, 0, 0, 0,
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93, 0, 0, 0, 58, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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7, 0, 0, 0, 0, 0, 0, 0,
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73, 0, 0, 0, 106, 0, 0, 0,
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85, 0, 0, 0, 106, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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8, 0, 0, 0, 0, 0, 0, 0,
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69, 0, 0, 0, 138, 0, 0, 0,
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81, 0, 0, 0, 138, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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9, 0, 0, 0, 0, 0, 0, 0,
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69, 0, 0, 0, 74, 0, 0, 0,
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81, 0, 0, 0, 74, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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10, 0, 0, 0, 0, 0, 0, 0,
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77, 0, 0, 0, 74, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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110, 111, 110, 101, 0, 0, 0, 0,
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101, 110, 103, 97, 103, 101, 0, 0,
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||||
@@ -8433,14 +8436,16 @@ static const ::capnp::_::AlignedData<67> b_e9e600c8b9e6b62d = {
|
||||
115, 116, 114, 97, 99, 116, 101, 100,
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0, 0, 0, 0, 0, 0, 0, 0,
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112, 114, 101, 65, 108, 101, 114, 116,
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0, 0, 0, 0, 0, 0, 0, 0,
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99, 111, 109, 112, 108, 101, 116, 101,
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0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_e9e600c8b9e6b62d = b_e9e600c8b9e6b62d.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_e9e600c8b9e6b62d[] = {2, 1, 0, 9, 6, 8, 7, 3, 5, 4};
|
||||
static const uint16_t m_e9e600c8b9e6b62d[] = {10, 2, 1, 0, 9, 6, 8, 7, 3, 5, 4};
|
||||
const ::capnp::_::RawSchema s_e9e600c8b9e6b62d = {
|
||||
0xe9e600c8b9e6b62d, b_e9e600c8b9e6b62d.words, 67, nullptr, m_e9e600c8b9e6b62d,
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||||
0, 10, nullptr, nullptr, nullptr, { &s_e9e600c8b9e6b62d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xe9e600c8b9e6b62d, b_e9e600c8b9e6b62d.words, 72, nullptr, m_e9e600c8b9e6b62d,
|
||||
0, 11, nullptr, nullptr, nullptr, { &s_e9e600c8b9e6b62d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(AudibleAlert_e9e600c8b9e6b62d, e9e600c8b9e6b62d);
|
||||
@@ -25624,7 +25629,7 @@ const ::capnp::_::RawSchema s_8aad6ef40447efb7 = {
|
||||
2, 5, i_8aad6ef40447efb7, nullptr, nullptr, { &s_8aad6ef40447efb7, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<261> b_a0df507d7df1052d = {
|
||||
static const ::capnp::_::AlignedData<277> b_a0df507d7df1052d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
45, 5, 241, 125, 125, 80, 223, 160,
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||||
10, 0, 0, 0, 1, 0, 2, 0,
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||||
@@ -25634,7 +25639,7 @@ static const ::capnp::_::AlignedData<261> b_a0df507d7df1052d = {
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||||
21, 0, 0, 0, 2, 1, 0, 0,
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33, 0, 0, 0, 87, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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125, 0, 0, 0, 23, 3, 0, 0,
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125, 0, 0, 0, 79, 3, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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108, 111, 103, 46, 99, 97, 112, 110,
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@@ -25666,105 +25671,112 @@ static const ::capnp::_::AlignedData<261> b_a0df507d7df1052d = {
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67, 97, 108, 105, 98, 114, 97, 116,
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105, 111, 110, 83, 116, 97, 116, 101,
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0, 0, 0, 0, 0, 0, 0, 0,
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56, 0, 0, 0, 3, 0, 4, 0,
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60, 0, 0, 0, 3, 0, 4, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 1, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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121, 1, 0, 0, 66, 0, 0, 0,
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149, 1, 0, 0, 66, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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116, 1, 0, 0, 3, 0, 1, 0,
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128, 1, 0, 0, 2, 0, 1, 0,
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13, 0, 0, 0, 0, 0, 0, 0,
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144, 1, 0, 0, 3, 0, 1, 0,
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156, 1, 0, 0, 2, 0, 1, 0,
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14, 0, 0, 0, 0, 0, 0, 0,
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1, 0, 0, 0, 0, 0, 0, 0,
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204, 238, 2, 226, 42, 156, 210, 177,
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125, 1, 0, 0, 90, 0, 0, 0,
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153, 1, 0, 0, 90, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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5, 0, 0, 0, 1, 0, 0, 0,
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6, 0, 0, 0, 1, 0, 0, 0,
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0, 0, 1, 0, 3, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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105, 1, 0, 0, 74, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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104, 1, 0, 0, 3, 0, 1, 0,
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116, 1, 0, 0, 2, 0, 1, 0,
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6, 0, 0, 0, 2, 0, 0, 0,
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0, 0, 1, 0, 4, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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113, 1, 0, 0, 130, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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112, 1, 0, 0, 3, 0, 1, 0,
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124, 1, 0, 0, 2, 0, 1, 0,
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7, 0, 0, 0, 2, 0, 0, 0,
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0, 0, 1, 0, 5, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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121, 1, 0, 0, 90, 0, 0, 0,
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120, 1, 0, 0, 3, 0, 1, 0,
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132, 1, 0, 0, 2, 0, 1, 0,
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8, 0, 0, 0, 3, 0, 0, 0,
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0, 0, 1, 0, 6, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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129, 1, 0, 0, 106, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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128, 1, 0, 0, 3, 0, 1, 0,
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140, 1, 0, 0, 2, 0, 1, 0,
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9, 0, 0, 0, 3, 0, 0, 0,
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0, 0, 1, 0, 7, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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137, 1, 0, 0, 50, 0, 0, 0,
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133, 1, 0, 0, 74, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0,
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132, 1, 0, 0, 3, 0, 1, 0,
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144, 1, 0, 0, 2, 0, 1, 0,
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10, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 1, 0, 8, 0, 0, 0,
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7, 0, 0, 0, 2, 0, 0, 0,
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141, 1, 0, 0, 122, 0, 0, 0,
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141, 1, 0, 0, 130, 0, 0, 0,
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140, 1, 0, 0, 3, 0, 1, 0,
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152, 1, 0, 0, 2, 0, 1, 0,
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11, 0, 0, 0, 1, 0, 0, 0,
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|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
165, 1, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
160, 1, 0, 0, 3, 0, 1, 0,
|
||||
172, 1, 0, 0, 2, 0, 1, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
169, 1, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
168, 1, 0, 0, 3, 0, 1, 0,
|
||||
180, 1, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
149, 1, 0, 0, 146, 0, 0, 0,
|
||||
177, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
152, 1, 0, 0, 3, 0, 1, 0,
|
||||
164, 1, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 2, 0, 0, 0,
|
||||
180, 1, 0, 0, 3, 0, 1, 0,
|
||||
192, 1, 0, 0, 2, 0, 1, 0,
|
||||
13, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
161, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
164, 1, 0, 0, 3, 0, 1, 0,
|
||||
176, 1, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 1, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
176, 1, 0, 0, 3, 0, 1, 0,
|
||||
188, 1, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
185, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
184, 1, 0, 0, 3, 0, 1, 0,
|
||||
196, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 1, 0, 0, 130, 0, 0, 0,
|
||||
189, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
192, 1, 0, 0, 3, 0, 1, 0,
|
||||
204, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
2, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
201, 1, 0, 0, 170, 0, 0, 0,
|
||||
201, 1, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 1, 0, 0, 3, 0, 1, 0,
|
||||
216, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
212, 1, 0, 0, 3, 0, 1, 0,
|
||||
224, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
221, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
220, 1, 0, 0, 3, 0, 1, 0,
|
||||
232, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
229, 1, 0, 0, 170, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
232, 1, 0, 0, 3, 0, 1, 0,
|
||||
244, 1, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 15, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
241, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
240, 1, 0, 0, 3, 0, 1, 0,
|
||||
252, 1, 0, 0, 2, 0, 1, 0,
|
||||
108, 111, 99, 107, 111, 117, 116, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -25848,9 +25860,9 @@ static const ::capnp::_::AlignedData<261> b_a0df507d7df1052d = {
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 99, 107, 111, 117, 116, 82,
|
||||
101, 99, 111, 118, 101, 114, 121, 80,
|
||||
101, 114, 99, 101, 110, 116, 0, 0,
|
||||
108, 111, 99, 107, 111, 117, 116, 77,
|
||||
105, 110, 117, 116, 101, 115, 82, 101,
|
||||
109, 97, 105, 110, 105, 110, 103, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -25885,6 +25897,15 @@ static const ::capnp::_::AlignedData<261> b_a0df507d7df1052d = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 99, 107, 111, 117, 116, 67,
|
||||
111, 117, 110, 116, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_a0df507d7df1052d = b_a0df507d7df1052d.words;
|
||||
@@ -25897,11 +25918,11 @@ static const ::capnp::_::RawSchema* const d_a0df507d7df1052d[] = {
|
||||
&s_f35f5f0c8b6ed5fc,
|
||||
&s_fc59c1779c0b5d25,
|
||||
};
|
||||
static const uint16_t m_a0df507d7df1052d[] = {5, 11, 4, 2, 3, 1, 6, 0, 10, 12, 13, 7, 8, 9};
|
||||
static const uint16_t i_a0df507d7df1052d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13};
|
||||
static const uint16_t m_a0df507d7df1052d[] = {5, 11, 4, 2, 3, 1, 6, 0, 14, 10, 12, 13, 7, 8, 9};
|
||||
static const uint16_t i_a0df507d7df1052d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14};
|
||||
const ::capnp::_::RawSchema s_a0df507d7df1052d = {
|
||||
0xa0df507d7df1052d, b_a0df507d7df1052d.words, 261, d_a0df507d7df1052d, m_a0df507d7df1052d,
|
||||
6, 14, i_a0df507d7df1052d, nullptr, nullptr, { &s_a0df507d7df1052d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xa0df507d7df1052d, b_a0df507d7df1052d.words, 277, d_a0df507d7df1052d, m_a0df507d7df1052d,
|
||||
6, 15, i_a0df507d7df1052d, nullptr, nullptr, { &s_a0df507d7df1052d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<36> b_96090816b1289c99 = {
|
||||
|
||||
@@ -373,6 +373,7 @@ enum class AudibleAlert_e9e600c8b9e6b62d: uint16_t {
|
||||
PROMPT_REPEAT,
|
||||
PROMPT_DISTRACTED,
|
||||
PRE_ALERT,
|
||||
COMPLETE,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(AudibleAlert, e9e600c8b9e6b62d);
|
||||
CAPNP_DECLARE_SCHEMA(dbe58b96d2d1ac61);
|
||||
@@ -19013,7 +19014,7 @@ public:
|
||||
inline bool hasWheeltouchPolicyState() const;
|
||||
inline ::cereal::DriverMonitoringState::WheeltouchPolicyState::Reader getWheeltouchPolicyState() const;
|
||||
|
||||
inline ::int8_t getLockoutRecoveryPercent() const;
|
||||
inline ::int8_t getLockoutMinutesRemaining() const;
|
||||
|
||||
inline ::int8_t getAlert3Count() const;
|
||||
|
||||
@@ -19021,6 +19022,8 @@ public:
|
||||
|
||||
inline bool getNoResponseForceDecel() const;
|
||||
|
||||
inline ::int8_t getLockoutCount() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -19091,8 +19094,8 @@ public:
|
||||
inline void adoptWheeltouchPolicyState(::capnp::Orphan< ::cereal::DriverMonitoringState::WheeltouchPolicyState>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::DriverMonitoringState::WheeltouchPolicyState> disownWheeltouchPolicyState();
|
||||
|
||||
inline ::int8_t getLockoutRecoveryPercent();
|
||||
inline void setLockoutRecoveryPercent( ::int8_t value);
|
||||
inline ::int8_t getLockoutMinutesRemaining();
|
||||
inline void setLockoutMinutesRemaining( ::int8_t value);
|
||||
|
||||
inline ::int8_t getAlert3Count();
|
||||
inline void setAlert3Count( ::int8_t value);
|
||||
@@ -19103,6 +19106,9 @@ public:
|
||||
inline bool getNoResponseForceDecel();
|
||||
inline void setNoResponseForceDecel(bool value);
|
||||
|
||||
inline ::int8_t getLockoutCount();
|
||||
inline void setLockoutCount( ::int8_t value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -47899,16 +47905,16 @@ inline ::capnp::Orphan< ::cereal::DriverMonitoringState::WheeltouchPolicyState>
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline ::int8_t DriverMonitoringState::Reader::getLockoutRecoveryPercent() const {
|
||||
inline ::int8_t DriverMonitoringState::Reader::getLockoutMinutesRemaining() const {
|
||||
return _reader.getDataField< ::int8_t>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::int8_t DriverMonitoringState::Builder::getLockoutRecoveryPercent() {
|
||||
inline ::int8_t DriverMonitoringState::Builder::getLockoutMinutesRemaining() {
|
||||
return _builder.getDataField< ::int8_t>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void DriverMonitoringState::Builder::setLockoutRecoveryPercent( ::int8_t value) {
|
||||
inline void DriverMonitoringState::Builder::setLockoutMinutesRemaining( ::int8_t value) {
|
||||
_builder.setDataField< ::int8_t>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
@@ -47955,6 +47961,20 @@ inline void DriverMonitoringState::Builder::setNoResponseForceDecel(bool value)
|
||||
::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::int8_t DriverMonitoringState::Reader::getLockoutCount() const {
|
||||
return _reader.getDataField< ::int8_t>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::int8_t DriverMonitoringState::Builder::getLockoutCount() {
|
||||
return _builder.getDataField< ::int8_t>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void DriverMonitoringState::Builder::setLockoutCount( ::int8_t value) {
|
||||
_builder.setDataField< ::int8_t>(
|
||||
::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::int8_t DriverMonitoringState::VisionPolicyState::Reader::getAwarenessPercent() const {
|
||||
return _reader.getDataField< ::int8_t>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
|
||||
@@ -812,6 +812,7 @@ struct SelfdriveState {
|
||||
promptDistracted @8;
|
||||
|
||||
preAlert @9;
|
||||
complete @10;
|
||||
}
|
||||
|
||||
enum OpenpilotState @0xdbe58b96d2d1ac61 {
|
||||
@@ -2160,7 +2161,8 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
|
||||
|
||||
struct DriverMonitoringState {
|
||||
lockout @0 :Bool;
|
||||
lockoutRecoveryPercent @11 :Int8;
|
||||
lockoutCount @15 :Int8;
|
||||
lockoutMinutesRemaining @11 :Int8;
|
||||
alert3Count @12 :Int8;
|
||||
noResponseCount @13 :Int8;
|
||||
noResponseForceDecel @14 :Bool;
|
||||
|
||||
@@ -7,12 +7,43 @@ import os
|
||||
import capnp
|
||||
import time
|
||||
|
||||
from typing import Optional, List, Union, Dict
|
||||
from typing import Union
|
||||
|
||||
from openpilot.cereal import log
|
||||
from openpilot.cereal.services import SERVICE_LIST
|
||||
from openpilot.common.utils import MovingAverage
|
||||
|
||||
__all__ = (
|
||||
"NO_TRAVERSAL_LIMIT",
|
||||
"Context",
|
||||
"FrequencyTracker",
|
||||
"IpcError",
|
||||
"MultiplePublishersError",
|
||||
"Poller",
|
||||
"PubMaster",
|
||||
"PubSocket",
|
||||
"SocketEventHandle",
|
||||
"SubMaster",
|
||||
"SubSocket",
|
||||
"delete_fake_prefix",
|
||||
"drain_sock",
|
||||
"drain_sock_raw",
|
||||
"fake_event_handle",
|
||||
"get_fake_prefix",
|
||||
"log_from_bytes",
|
||||
"new_message",
|
||||
"pub_sock",
|
||||
"recv_one",
|
||||
"recv_one_or_none",
|
||||
"recv_one_retry",
|
||||
"recv_sock",
|
||||
"reset_context",
|
||||
"set_fake_prefix",
|
||||
"sub_sock",
|
||||
"toggle_fake_events",
|
||||
"wait_for_one_event",
|
||||
)
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
@@ -22,8 +53,8 @@ def pub_sock(endpoint: str) -> PubSocket:
|
||||
return msgq.pub_sock(endpoint, segment_size)
|
||||
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
def sub_sock(endpoint: str, poller: Poller | None = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: int | None = None) -> SubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
|
||||
@@ -39,7 +70,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
|
||||
return msg
|
||||
|
||||
|
||||
def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
args = {
|
||||
'valid': False,
|
||||
'logMonoTime': int(time.monotonic() * 1e9),
|
||||
@@ -54,14 +85,14 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
|
||||
return dat
|
||||
|
||||
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> list[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
|
||||
return [log_from_bytes(m) for m in msgs]
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicStructReader | None:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
@@ -82,14 +113,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
def recv_one(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
def recv_one_or_none(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
@@ -148,27 +179,27 @@ class FrequencyTracker:
|
||||
|
||||
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[str] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
|
||||
def __init__(self, services: list[str], poll: str | None = None,
|
||||
ignore_alive: list[str] | None = None, ignore_avg_freq: list[str] | None = None,
|
||||
ignore_valid: list[str] | None = None, addr: str = "127.0.0.1", frequency: float | None = None):
|
||||
self.frame = -1
|
||||
self.services = services
|
||||
self.seen = {s: False for s in services}
|
||||
self.updated = {s: False for s in services}
|
||||
self.recv_time = {s: 0. for s in services}
|
||||
self.recv_frame = {s: 0 for s in services}
|
||||
self.seen = dict.fromkeys(services, False)
|
||||
self.updated = dict.fromkeys(services, False)
|
||||
self.recv_time = dict.fromkeys(services, 0.0)
|
||||
self.recv_frame = dict.fromkeys(services, 0)
|
||||
self.sock = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {s: 0 for s in services}
|
||||
self.logMonoTime = dict.fromkeys(services, 0)
|
||||
|
||||
# zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
|
||||
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
|
||||
self.static_freq_services = set(s for s in services if not on_demand[s])
|
||||
self.static_freq_services = {s for s in services if not on_demand[s]}
|
||||
self.alive = {s: on_demand[s] for s in services}
|
||||
self.freq_ok = {s: on_demand[s] for s in services}
|
||||
self.valid = {s: on_demand[s] for s in services}
|
||||
|
||||
self.freq_tracker: Dict[str, FrequencyTracker] = {}
|
||||
self.freq_tracker: dict[str, FrequencyTracker] = {}
|
||||
self.poller = Poller()
|
||||
polled_services = set([poll, ] if poll is not None else services)
|
||||
self.non_polled_services = set(services) - polled_services
|
||||
@@ -211,7 +242,7 @@ class SubMaster:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(time.monotonic(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.services, False)
|
||||
for msg in msgs:
|
||||
@@ -234,21 +265,21 @@ class SubMaster:
|
||||
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
|
||||
self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
|
||||
|
||||
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
def all_alive(self, service_list: list[str] | None = None) -> bool:
|
||||
return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
|
||||
|
||||
def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
def all_freq_ok(self, service_list: list[str] | None = None) -> bool:
|
||||
return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
|
||||
|
||||
def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
def all_valid(self, service_list: list[str] | None = None) -> bool:
|
||||
return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
|
||||
|
||||
def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
|
||||
def all_checks(self, service_list: list[str] | None = None) -> bool:
|
||||
return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
|
||||
|
||||
|
||||
class PubMaster:
|
||||
def __init__(self, services: List[str]):
|
||||
def __init__(self, services: list[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
import os
|
||||
import capnp
|
||||
import multiprocessing
|
||||
import numbers
|
||||
@@ -6,7 +5,6 @@ import random
|
||||
import threading
|
||||
import time
|
||||
from openpilot.common.parameterized import parameterized
|
||||
import pytest
|
||||
|
||||
from openpilot.cereal import log
|
||||
from opendbc.car.structs import car
|
||||
@@ -24,10 +22,6 @@ def random_socks(num_socks=10):
|
||||
def random_bytes(length=1000):
|
||||
return bytes([random.randrange(0xFF) for _ in range(length)])
|
||||
|
||||
def zmq_sleep(t=1):
|
||||
if "ZMQ" in os.environ:
|
||||
time.sleep(t)
|
||||
|
||||
|
||||
# TODO: this should take any capnp struct and returrn a msg with random populated data
|
||||
def random_carstate():
|
||||
@@ -53,16 +47,6 @@ def delayed_send(delay, sock, dat):
|
||||
|
||||
|
||||
class TestMessaging:
|
||||
def setUp(self):
|
||||
# TODO: ZMQ tests are too slow; all sleeps will need to be
|
||||
# replaced with logic to block on the necessary condition
|
||||
if "ZMQ" in os.environ:
|
||||
pytest.skip()
|
||||
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep()
|
||||
|
||||
@parameterized.expand(events)
|
||||
def test_new_message(self, evt):
|
||||
try:
|
||||
@@ -89,7 +73,6 @@ class TestMessaging:
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=1000)
|
||||
zmq_sleep()
|
||||
|
||||
# no wait and no msgs in queue
|
||||
msgs = func(sub_sock)
|
||||
@@ -110,7 +93,6 @@ class TestMessaging:
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=100)
|
||||
zmq_sleep()
|
||||
|
||||
# no wait and no msg in queue, socket should timeout
|
||||
recvd = messaging.recv_sock(sub_sock)
|
||||
@@ -129,7 +111,6 @@ class TestMessaging:
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=1000)
|
||||
zmq_sleep()
|
||||
|
||||
# no msg in queue, socket should timeout
|
||||
recvd = messaging.recv_one(sub_sock)
|
||||
@@ -142,12 +123,10 @@ class TestMessaging:
|
||||
assert isinstance(recvd, capnp._DynamicStructReader)
|
||||
assert_carstate(msg.carState, recvd.carState)
|
||||
|
||||
@pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
|
||||
def test_recv_one_or_none(self):
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock)
|
||||
zmq_sleep()
|
||||
|
||||
# no msg in queue, socket shouldn't block
|
||||
recvd = messaging.recv_one_or_none(sub_sock)
|
||||
@@ -165,16 +144,13 @@ class TestMessaging:
|
||||
sock_timeout = 0.1
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
|
||||
zmq_sleep()
|
||||
|
||||
# this test doesn't work with ZMQ since multiprocessing interrupts it
|
||||
if "ZMQ" not in os.environ:
|
||||
# wait 5 socket timeouts and make sure it's still retrying
|
||||
p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
|
||||
p.start()
|
||||
time.sleep(sock_timeout*5)
|
||||
assert p.is_alive()
|
||||
p.terminate()
|
||||
# wait 5 socket timeouts and make sure it's still retrying
|
||||
p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
|
||||
p.start()
|
||||
time.sleep(sock_timeout*5)
|
||||
assert p.is_alive()
|
||||
p.terminate()
|
||||
|
||||
# wait 5 socket timeouts before sending
|
||||
msg = random_carstate()
|
||||
|
||||
@@ -1,21 +1,16 @@
|
||||
import random
|
||||
import time
|
||||
from typing import Sized, cast
|
||||
from typing import cast
|
||||
from collections.abc import Sized
|
||||
|
||||
import openpilot.cereal.messaging as messaging
|
||||
from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
|
||||
random_bytes, random_carstate, assert_carstate, \
|
||||
zmq_sleep
|
||||
random_bytes, random_carstate, assert_carstate
|
||||
from openpilot.cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
class TestSubMaster:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep(3)
|
||||
|
||||
def test_init(self):
|
||||
sm = messaging.SubMaster(events)
|
||||
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
|
||||
@@ -42,7 +37,6 @@ class TestSubMaster:
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
zmq_sleep()
|
||||
|
||||
msg = random_carstate()
|
||||
pub_sock.send(msg.to_bytes())
|
||||
@@ -54,7 +48,6 @@ class TestSubMaster:
|
||||
sock = "carState"
|
||||
pub_sock = messaging.pub_sock(sock)
|
||||
sm = messaging.SubMaster([sock,])
|
||||
zmq_sleep()
|
||||
|
||||
for i in range(10):
|
||||
msg = messaging.new_message(sock)
|
||||
@@ -91,21 +84,13 @@ class TestSubMaster:
|
||||
|
||||
for service, (max_freq, min_freq) in checks.items():
|
||||
if max_freq is not None:
|
||||
assert min_freq is not None
|
||||
assert sm._check_avg_freq(service)
|
||||
assert sm.freq_tracker[service].max_freq == max_freq*1.2
|
||||
assert sm.freq_tracker[service].min_freq == min_freq*0.8
|
||||
else:
|
||||
assert not sm._check_avg_freq(service)
|
||||
|
||||
def test_alive(self):
|
||||
pass
|
||||
|
||||
def test_ignore_alive(self):
|
||||
pass
|
||||
|
||||
def test_valid(self):
|
||||
pass
|
||||
|
||||
# SubMaster should always conflate
|
||||
def test_conflate(self):
|
||||
sock = "carState"
|
||||
@@ -124,11 +109,6 @@ class TestSubMaster:
|
||||
|
||||
class TestPubMaster:
|
||||
|
||||
def setup_method(self):
|
||||
# ZMQ pub socket takes too long to die
|
||||
# sleep to prevent multiple publishers error between tests
|
||||
zmq_sleep(3)
|
||||
|
||||
def test_init(self):
|
||||
messaging.PubMaster(events)
|
||||
|
||||
@@ -136,7 +116,6 @@ class TestPubMaster:
|
||||
socks = random_socks()
|
||||
pm = messaging.PubMaster(socks)
|
||||
sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
|
||||
zmq_sleep()
|
||||
|
||||
# PubMaster accepts either a capnp msg builder or bytes
|
||||
for capnp in [True, False]:
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
from enum import IntEnum
|
||||
from typing import Optional
|
||||
|
||||
|
||||
# TODO: this should be automatically determined using the capnp schema
|
||||
@@ -11,7 +10,7 @@ class QueueSize(IntEnum):
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: int | None = None,
|
||||
queue_size: QueueSize = QueueSize.SMALL):
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
@@ -125,8 +124,7 @@ def build_header():
|
||||
for k, v in SERVICE_LIST.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", {"%s", %s, %f, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation, v.queue_size)
|
||||
h += f' {{ "{k}", {{"{k}", {should_log}, {v.frequency:f}, {decimation:d}, {v.queue_size:d}}}}},\n'
|
||||
h += "};\n"
|
||||
|
||||
h += "#endif\n"
|
||||
|
||||
@@ -38,6 +38,7 @@ class BaseApi:
|
||||
}
|
||||
if payload_extra is not None:
|
||||
payload.update(payload_extra)
|
||||
assert self.private_key is not None
|
||||
token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
|
||||
@@ -42,25 +42,26 @@ def get_existing_chunks(path):
|
||||
class ChunkStream(io.RawIOBase):
|
||||
def __init__(self, paths):
|
||||
self._paths = iter(paths)
|
||||
self._buf = memoryview(b'')
|
||||
self._f = None
|
||||
|
||||
def readable(self):
|
||||
return True
|
||||
|
||||
def readinto(self, b):
|
||||
n = 0
|
||||
view = memoryview(b)
|
||||
while n < len(b):
|
||||
if not self._buf:
|
||||
if self._f is None:
|
||||
p = next(self._paths, None)
|
||||
if p is None:
|
||||
break
|
||||
with open(p, 'rb') as f:
|
||||
self._buf = memoryview(f.read())
|
||||
self._f = open(p, 'rb')
|
||||
count = self._f.readinto(view[n:])
|
||||
if not count:
|
||||
self._f.close()
|
||||
self._f = None
|
||||
continue
|
||||
take = min(len(b) - n, len(self._buf))
|
||||
b[n:n + take] = self._buf[:take]
|
||||
self._buf = self._buf[take:]
|
||||
n += take
|
||||
n += count
|
||||
return n
|
||||
|
||||
def open_file_chunked(path):
|
||||
|
||||
@@ -56,28 +56,28 @@
|
||||
},
|
||||
{
|
||||
"name": "boot",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
|
||||
"hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
|
||||
"hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39.img.xz",
|
||||
"hash": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
|
||||
"hash_raw": "19ff57b68e219e4503fcaca716967098d5d0a1de8af833f04dbf13b99aeb4d39",
|
||||
"size": 17487872,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
|
||||
"ondevice_hash": "ddfe93cc6a8531af92ee331d9bbaeae2f1d933bdb38e579769dc9fe7998eb626"
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
|
||||
"hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
|
||||
"hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img.xz",
|
||||
"hash": "4dc41c2c072f5f5d5cd484cd6173049cd96acfb9a67bc20049775585fe881539",
|
||||
"hash_raw": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
|
||||
"size": 4718592000,
|
||||
"sparse": true,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
|
||||
"ondevice_hash": "cf1229630b7a2b8497705bca4ba947dbf0c217418ff4febff571aa4f4a878134",
|
||||
"alt": {
|
||||
"hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
|
||||
"hash": "a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-a396dd98ffd49614fb198d1b022a0c7a6d0a1e563c20ce11b0a975105ab50724.img",
|
||||
"size": 4718592000
|
||||
}
|
||||
}
|
||||
|
||||
@@ -19,7 +19,7 @@ class StreamingDecompressor:
|
||||
def __init__(self, url: str) -> None:
|
||||
self.buf = b""
|
||||
|
||||
self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
|
||||
self.req = requests.get(url, stream=True, headers={'Accept-Encoding': 'identity'}, timeout=60)
|
||||
self.it = self.req.iter_content(chunk_size=1024 * 1024)
|
||||
self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
|
||||
self.eof = False
|
||||
|
||||
@@ -339,7 +339,7 @@ class Tici(HardwareBase):
|
||||
|
||||
# Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
|
||||
gpio_init(GPIO.SOM_ST_IO, True)
|
||||
gpio_set(GPIO.SOM_ST_IO, 1)
|
||||
gpio_set(GPIO.SOM_ST_IO, True)
|
||||
|
||||
# *** IRQ config ***
|
||||
|
||||
@@ -389,21 +389,21 @@ class Tici(HardwareBase):
|
||||
gpio_init(GPIO.STM_RST_N, True)
|
||||
gpio_init(GPIO.STM_BOOT0, True)
|
||||
|
||||
gpio_set(GPIO.STM_RST_N, 1)
|
||||
gpio_set(GPIO.STM_BOOT0, 0)
|
||||
gpio_set(GPIO.STM_RST_N, True)
|
||||
gpio_set(GPIO.STM_BOOT0, False)
|
||||
time.sleep(0.01)
|
||||
gpio_set(GPIO.STM_RST_N, 0)
|
||||
gpio_set(GPIO.STM_RST_N, False)
|
||||
|
||||
def recover_internal_panda(self):
|
||||
gpio_init(GPIO.STM_RST_N, True)
|
||||
gpio_init(GPIO.STM_BOOT0, True)
|
||||
|
||||
gpio_set(GPIO.STM_RST_N, 1)
|
||||
gpio_set(GPIO.STM_BOOT0, 1)
|
||||
gpio_set(GPIO.STM_RST_N, True)
|
||||
gpio_set(GPIO.STM_BOOT0, True)
|
||||
time.sleep(0.01)
|
||||
gpio_set(GPIO.STM_RST_N, 0)
|
||||
gpio_set(GPIO.STM_RST_N, False)
|
||||
time.sleep(0.01)
|
||||
gpio_set(GPIO.STM_BOOT0, 0)
|
||||
gpio_set(GPIO.STM_BOOT0, False)
|
||||
|
||||
def booted(self):
|
||||
# this normally boots within 8s, but on rare occasions takes 30+s
|
||||
|
||||
@@ -52,7 +52,7 @@ PPPD_CMD = [
|
||||
"novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
|
||||
"user", '""', "password", '""',
|
||||
]
|
||||
INITIAL_STATE = {
|
||||
INITIAL_STATE: dict[str, object] = {
|
||||
"seconds_since_boot": 0,
|
||||
"state": "INITIALIZING",
|
||||
"connected": False, "ip_address": "",
|
||||
|
||||
@@ -37,6 +37,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
|
||||
{"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
|
||||
{"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
|
||||
|
||||
Binary file not shown.
@@ -1,11 +1,13 @@
|
||||
import numpy as np
|
||||
from numbers import Number
|
||||
from collections.abc import Sequence
|
||||
|
||||
Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
|
||||
self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
|
||||
self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
|
||||
def __init__(self, k_p: Gain, k_i: Gain, k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
|
||||
self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
|
||||
self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
|
||||
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
|
||||
|
||||
@@ -27,7 +27,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
|
||||
self.log_files = self.get_existing_logfiles()
|
||||
log_indexes = [f.split(".")[-1] for f in self.log_files]
|
||||
self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
|
||||
self.last_rollover = None
|
||||
self.last_rollover = 0.0
|
||||
self.doRollover()
|
||||
|
||||
def _open(self):
|
||||
@@ -39,7 +39,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
|
||||
return stream
|
||||
|
||||
def get_existing_logfiles(self):
|
||||
log_files = list()
|
||||
log_files = []
|
||||
base_dir = os.path.dirname(self.base_filename)
|
||||
for fn in os.listdir(base_dir):
|
||||
fp = os.path.join(base_dir, fn)
|
||||
|
||||
@@ -112,14 +112,14 @@ class TestParams:
|
||||
def test_params_default_value(self):
|
||||
self.params.remove("LanguageSetting")
|
||||
self.params.remove("LongitudinalPersonality")
|
||||
self.params.remove("LiveParameters")
|
||||
self.params.remove("LiveParametersV2")
|
||||
|
||||
assert self.params.get("LanguageSetting") is None
|
||||
assert self.params.get("LanguageSetting", return_default=False) is None
|
||||
assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
|
||||
assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
|
||||
assert self.params.get("LiveParameters") is None
|
||||
assert self.params.get("LiveParameters", return_default=True) is None
|
||||
assert self.params.get("LiveParametersV2") is None
|
||||
assert self.params.get("LiveParametersV2", return_default=True) is None
|
||||
|
||||
def test_params_get_type(self):
|
||||
# json
|
||||
|
||||
@@ -52,7 +52,7 @@ _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fish
|
||||
_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
|
||||
_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
|
||||
|
||||
DEVICE_CAMERAS = {
|
||||
DEVICE_CAMERAS: dict[tuple[str, str], DeviceCameraConfig] = {
|
||||
# A "device camera" is defined by a device type and sensor
|
||||
|
||||
# sensor type was never set on eon/neo/two
|
||||
@@ -176,4 +176,3 @@ def img_from_device(pt_device):
|
||||
|
||||
pt_img = pt_view/pt_view[:, 2:3]
|
||||
return pt_img.reshape(input_shape)[:, :2]
|
||||
|
||||
|
||||
Binary file not shown.
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Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -3,7 +3,7 @@ import copy
|
||||
import os
|
||||
import pytest
|
||||
import random
|
||||
import unittest # noqa: TID251
|
||||
import unittest
|
||||
from collections import defaultdict, Counter
|
||||
import hypothesis.strategies as st
|
||||
from hypothesis import Phase, given, settings
|
||||
@@ -22,6 +22,7 @@ from openpilot.selfdrive.pandad import can_capnp_to_list
|
||||
from openpilot.selfdrive.test.helpers import read_segment_list
|
||||
from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
|
||||
from openpilot.tools.lib.file_sources import Source
|
||||
from openpilot.tools.lib.route import SegmentName
|
||||
|
||||
SafetyModel = car.CarParams.SafetyModel
|
||||
@@ -131,7 +132,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
segment_range = f"{cls.test_route.route}/{seg}"
|
||||
|
||||
try:
|
||||
sources = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
|
||||
sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
|
||||
lr = LogReader(segment_range, sources=sources, sort_by_time=True)
|
||||
return cls.get_testing_data_from_logreader(lr)
|
||||
except (LogsUnavailable, AssertionError):
|
||||
@@ -257,7 +258,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
|
||||
# Don't check relay malfunction on disabled routes (relay closed),
|
||||
# or before fingerprinting is done (elm327 and noOutput)
|
||||
if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
|
||||
if self.car_safety_mode_frame is not None and t / 1e4 > self.car_safety_mode_frame:
|
||||
self.assertFalse(self.safety.get_relay_malfunction())
|
||||
else:
|
||||
self.safety.set_relay_malfunction(False)
|
||||
@@ -451,7 +452,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.deprecated.brake > 0.05:
|
||||
brake_pressed = False
|
||||
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
|
||||
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
|
||||
|
||||
@@ -15,6 +15,9 @@ MAX_LATERAL_JERK = 5.0 # m/s^3
|
||||
MAX_LATERAL_ACCEL_NO_ROLL = 3.0 # m/s^2
|
||||
|
||||
|
||||
def should_stop(v_ego: float, a_target: float) -> bool:
|
||||
return bool(v_ego < 0.25 and a_target < 0.1)
|
||||
|
||||
def clamp(val, min_val, max_val):
|
||||
clamped_val = float(np.clip(val, min_val, max_val))
|
||||
return clamped_val, clamped_val != val
|
||||
@@ -40,7 +43,7 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
|
||||
return float(new_curvature), limited_accel or limited_max_curv
|
||||
|
||||
|
||||
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
|
||||
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL):
|
||||
if len(speeds) == len(t_idxs):
|
||||
v_now = speeds[0]
|
||||
a_now = accels[0]
|
||||
@@ -53,8 +56,7 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
|
||||
v_now = 0.0
|
||||
v_target = 0.0
|
||||
a_target = 0.0
|
||||
should_stop = (v_now < vEgoStopping and a_target < 0.1)
|
||||
return a_target, should_stop
|
||||
return a_target, should_stop(v_now, a_target)
|
||||
|
||||
def curv_from_psis(psi_target, psi_rate, vego, action_t):
|
||||
vego = np.clip(vego, MIN_SPEED, np.inf)
|
||||
|
||||
@@ -14,7 +14,7 @@ class LatControl(ABC):
|
||||
self.steer_max = 1.0
|
||||
|
||||
@abstractmethod
|
||||
def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose: Pose,
|
||||
def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose: Pose | None,
|
||||
curvature_limited: bool, lat_delay: float):
|
||||
pass
|
||||
|
||||
|
||||
@@ -10,7 +10,7 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
|
||||
def long_control_state_trans(CP_SP, active, long_control_state,
|
||||
should_stop, brake_pressed, cruise_standstill):
|
||||
# Gas Interceptor
|
||||
cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
|
||||
@@ -26,22 +26,17 @@ def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
|
||||
if long_control_state == LongCtrlState.off:
|
||||
if not starting_condition:
|
||||
long_control_state = LongCtrlState.stopping
|
||||
elif CP.startingState:
|
||||
long_control_state = LongCtrlState.starting
|
||||
else:
|
||||
long_control_state = LongCtrlState.pid
|
||||
|
||||
elif long_control_state == LongCtrlState.stopping:
|
||||
if starting_condition and CP.startingState:
|
||||
long_control_state = LongCtrlState.starting
|
||||
elif starting_condition:
|
||||
if starting_condition:
|
||||
long_control_state = LongCtrlState.pid
|
||||
|
||||
elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
|
||||
elif long_control_state == LongCtrlState.pid:
|
||||
if should_stop:
|
||||
long_control_state = LongCtrlState.stopping
|
||||
elif v_ego > CP.vEgoStarting:
|
||||
long_control_state = LongCtrlState.pid
|
||||
|
||||
return long_control_state
|
||||
|
||||
class LongControl:
|
||||
@@ -62,7 +57,7 @@ class LongControl:
|
||||
self.pid.neg_limit = accel_limits[0]
|
||||
self.pid.pos_limit = accel_limits[1]
|
||||
|
||||
self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
|
||||
self.long_control_state = long_control_state_trans(self.CP_SP, active, self.long_control_state,
|
||||
should_stop, CS.brakePressed,
|
||||
CS.cruiseState.standstill)
|
||||
if self.long_control_state == LongCtrlState.off:
|
||||
@@ -73,11 +68,8 @@ class LongControl:
|
||||
output_accel = self.last_output_accel
|
||||
if output_accel > self.CP.stopAccel:
|
||||
output_accel = min(output_accel, 0.0)
|
||||
output_accel -= self.CP.stoppingDecelRate * DT_CTRL
|
||||
self.reset()
|
||||
|
||||
elif self.long_control_state == LongCtrlState.starting:
|
||||
output_accel = self.CP.startAccel
|
||||
# TODO: can we just go straight to stopAccel?
|
||||
output_accel -= 1.0 * DT_CTRL # m/s^2/s while trying to stop
|
||||
self.reset()
|
||||
|
||||
else: # LongCtrlState.pid
|
||||
|
||||
@@ -137,7 +137,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
|
||||
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
|
||||
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
|
||||
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
|
||||
action_t=action_t)
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
|
||||
|
||||
@@ -23,13 +23,14 @@ def main():
|
||||
cloudlog.info("plannerd got CarParamsSP")
|
||||
|
||||
gps_location_service = get_gps_location_service(params)
|
||||
ignore_services = ["liveMapDataSP", gps_location_service]
|
||||
|
||||
ldw = LaneDepartureWarning()
|
||||
longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
|
||||
'liveMapDataSP', 'carStateSP', gps_location_service],
|
||||
poll='carState')
|
||||
poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
|
||||
@@ -1,60 +1,43 @@
|
||||
from openpilot.cereal import custom
|
||||
from opendbc.car.structs import car
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
|
||||
|
||||
|
||||
|
||||
|
||||
class TestLongControlStateTransition:
|
||||
|
||||
def test_stay_stopped(self):
|
||||
CP = car.CarParams.new_message()
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
active = False
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.off
|
||||
|
||||
def test_engage():
|
||||
CP = car.CarParams.new_message()
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.off
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
||||
assert next_state == LongCtrlState.stopping
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
def test_starting():
|
||||
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
|
||||
CP_SP = custom.CarParamsSP.new_message()
|
||||
active = True
|
||||
current_state = LongCtrlState.starting
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.starting
|
||||
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
||||
next_state = long_control_state_trans(CP_SP, active, current_state,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
@@ -7,8 +7,6 @@ from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
|
||||
|
||||
np.random.seed(0)
|
||||
|
||||
LA_ERR_STD = 1.0
|
||||
INPUT_NOISE_STD = 0.08
|
||||
V_EGO = 30.0
|
||||
@@ -58,16 +56,17 @@ def simulate_straight_road_msgs(est):
|
||||
for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
|
||||
est.handle_log(t, which, msg)
|
||||
|
||||
def test_estimated_offset():
|
||||
steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
|
||||
est = get_warmed_up_estimator(steer_torques, lat_accels)
|
||||
msg = est.get_msg()
|
||||
# TODO add lataccelfactor and friction check when we have more accurate estimates
|
||||
assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
|
||||
class TestTorquedLatAccelOffset:
|
||||
def test_estimated_offset(self):
|
||||
steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
|
||||
est = get_warmed_up_estimator(steer_torques, lat_accels)
|
||||
msg = est.get_msg()
|
||||
# TODO add lataccelfactor and friction check when we have more accurate estimates
|
||||
assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
|
||||
|
||||
def test_straight_road_roll_bias():
|
||||
steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
|
||||
est = get_warmed_up_estimator(steer_torques, lat_accels)
|
||||
simulate_straight_road_msgs(est)
|
||||
msg = est.get_msg()
|
||||
assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
|
||||
def test_straight_road_roll_bias(self):
|
||||
steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
|
||||
est = get_warmed_up_estimator(steer_torques, lat_accels)
|
||||
simulate_straight_road_msgs(est)
|
||||
msg = est.get_msg()
|
||||
assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import numpy as np
|
||||
from collections.abc import Sequence
|
||||
from typing import Any
|
||||
from functools import cache
|
||||
|
||||
@@ -68,7 +69,8 @@ class NPQueue:
|
||||
|
||||
|
||||
class PointBuckets:
|
||||
def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
|
||||
def __init__(self, x_bounds: list[tuple[float, float]], min_points: Sequence[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
|
||||
self._rng = np.random.default_rng()
|
||||
self.x_bounds = x_bounds
|
||||
self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
|
||||
self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
|
||||
@@ -98,9 +100,9 @@ class PointBuckets:
|
||||
points = np.vstack([x.arr for x in self.buckets.values()])
|
||||
if num_points is None:
|
||||
return points
|
||||
return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
|
||||
return points[self._rng.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
|
||||
|
||||
def load_points(self, points: list[list[float]]) -> None:
|
||||
def load_points(self, points: Sequence[Sequence[float]]) -> None:
|
||||
for point in points:
|
||||
self.add_point(*point)
|
||||
|
||||
|
||||
@@ -66,7 +66,7 @@ class LocationEstimator:
|
||||
self.observations = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
|
||||
self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
|
||||
|
||||
def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
|
||||
def reset(self, t: float | None, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
|
||||
self.kf.init_state(x_initial, covs=P_initial, filter_time=t)
|
||||
|
||||
def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):
|
||||
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_4503132331689013745) {
|
||||
out_4503132331689013745[0] = delta_x[0] + nom_x[0];
|
||||
out_4503132331689013745[1] = delta_x[1] + nom_x[1];
|
||||
out_4503132331689013745[2] = delta_x[2] + nom_x[2];
|
||||
out_4503132331689013745[3] = delta_x[3] + nom_x[3];
|
||||
out_4503132331689013745[4] = delta_x[4] + nom_x[4];
|
||||
out_4503132331689013745[5] = delta_x[5] + nom_x[5];
|
||||
out_4503132331689013745[6] = delta_x[6] + nom_x[6];
|
||||
out_4503132331689013745[7] = delta_x[7] + nom_x[7];
|
||||
out_4503132331689013745[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_3010729618614624127) {
|
||||
out_3010729618614624127[0] = delta_x[0] + nom_x[0];
|
||||
out_3010729618614624127[1] = delta_x[1] + nom_x[1];
|
||||
out_3010729618614624127[2] = delta_x[2] + nom_x[2];
|
||||
out_3010729618614624127[3] = delta_x[3] + nom_x[3];
|
||||
out_3010729618614624127[4] = delta_x[4] + nom_x[4];
|
||||
out_3010729618614624127[5] = delta_x[5] + nom_x[5];
|
||||
out_3010729618614624127[6] = delta_x[6] + nom_x[6];
|
||||
out_3010729618614624127[7] = delta_x[7] + nom_x[7];
|
||||
out_3010729618614624127[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5519222819843562437) {
|
||||
out_5519222819843562437[0] = -nom_x[0] + true_x[0];
|
||||
out_5519222819843562437[1] = -nom_x[1] + true_x[1];
|
||||
out_5519222819843562437[2] = -nom_x[2] + true_x[2];
|
||||
out_5519222819843562437[3] = -nom_x[3] + true_x[3];
|
||||
out_5519222819843562437[4] = -nom_x[4] + true_x[4];
|
||||
out_5519222819843562437[5] = -nom_x[5] + true_x[5];
|
||||
out_5519222819843562437[6] = -nom_x[6] + true_x[6];
|
||||
out_5519222819843562437[7] = -nom_x[7] + true_x[7];
|
||||
out_5519222819843562437[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3985552318855446440) {
|
||||
out_3985552318855446440[0] = -nom_x[0] + true_x[0];
|
||||
out_3985552318855446440[1] = -nom_x[1] + true_x[1];
|
||||
out_3985552318855446440[2] = -nom_x[2] + true_x[2];
|
||||
out_3985552318855446440[3] = -nom_x[3] + true_x[3];
|
||||
out_3985552318855446440[4] = -nom_x[4] + true_x[4];
|
||||
out_3985552318855446440[5] = -nom_x[5] + true_x[5];
|
||||
out_3985552318855446440[6] = -nom_x[6] + true_x[6];
|
||||
out_3985552318855446440[7] = -nom_x[7] + true_x[7];
|
||||
out_3985552318855446440[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_99880963271144866) {
|
||||
out_99880963271144866[0] = 1.0;
|
||||
out_99880963271144866[1] = 0.0;
|
||||
out_99880963271144866[2] = 0.0;
|
||||
out_99880963271144866[3] = 0.0;
|
||||
out_99880963271144866[4] = 0.0;
|
||||
out_99880963271144866[5] = 0.0;
|
||||
out_99880963271144866[6] = 0.0;
|
||||
out_99880963271144866[7] = 0.0;
|
||||
out_99880963271144866[8] = 0.0;
|
||||
out_99880963271144866[9] = 0.0;
|
||||
out_99880963271144866[10] = 1.0;
|
||||
out_99880963271144866[11] = 0.0;
|
||||
out_99880963271144866[12] = 0.0;
|
||||
out_99880963271144866[13] = 0.0;
|
||||
out_99880963271144866[14] = 0.0;
|
||||
out_99880963271144866[15] = 0.0;
|
||||
out_99880963271144866[16] = 0.0;
|
||||
out_99880963271144866[17] = 0.0;
|
||||
out_99880963271144866[18] = 0.0;
|
||||
out_99880963271144866[19] = 0.0;
|
||||
out_99880963271144866[20] = 1.0;
|
||||
out_99880963271144866[21] = 0.0;
|
||||
out_99880963271144866[22] = 0.0;
|
||||
out_99880963271144866[23] = 0.0;
|
||||
out_99880963271144866[24] = 0.0;
|
||||
out_99880963271144866[25] = 0.0;
|
||||
out_99880963271144866[26] = 0.0;
|
||||
out_99880963271144866[27] = 0.0;
|
||||
out_99880963271144866[28] = 0.0;
|
||||
out_99880963271144866[29] = 0.0;
|
||||
out_99880963271144866[30] = 1.0;
|
||||
out_99880963271144866[31] = 0.0;
|
||||
out_99880963271144866[32] = 0.0;
|
||||
out_99880963271144866[33] = 0.0;
|
||||
out_99880963271144866[34] = 0.0;
|
||||
out_99880963271144866[35] = 0.0;
|
||||
out_99880963271144866[36] = 0.0;
|
||||
out_99880963271144866[37] = 0.0;
|
||||
out_99880963271144866[38] = 0.0;
|
||||
out_99880963271144866[39] = 0.0;
|
||||
out_99880963271144866[40] = 1.0;
|
||||
out_99880963271144866[41] = 0.0;
|
||||
out_99880963271144866[42] = 0.0;
|
||||
out_99880963271144866[43] = 0.0;
|
||||
out_99880963271144866[44] = 0.0;
|
||||
out_99880963271144866[45] = 0.0;
|
||||
out_99880963271144866[46] = 0.0;
|
||||
out_99880963271144866[47] = 0.0;
|
||||
out_99880963271144866[48] = 0.0;
|
||||
out_99880963271144866[49] = 0.0;
|
||||
out_99880963271144866[50] = 1.0;
|
||||
out_99880963271144866[51] = 0.0;
|
||||
out_99880963271144866[52] = 0.0;
|
||||
out_99880963271144866[53] = 0.0;
|
||||
out_99880963271144866[54] = 0.0;
|
||||
out_99880963271144866[55] = 0.0;
|
||||
out_99880963271144866[56] = 0.0;
|
||||
out_99880963271144866[57] = 0.0;
|
||||
out_99880963271144866[58] = 0.0;
|
||||
out_99880963271144866[59] = 0.0;
|
||||
out_99880963271144866[60] = 1.0;
|
||||
out_99880963271144866[61] = 0.0;
|
||||
out_99880963271144866[62] = 0.0;
|
||||
out_99880963271144866[63] = 0.0;
|
||||
out_99880963271144866[64] = 0.0;
|
||||
out_99880963271144866[65] = 0.0;
|
||||
out_99880963271144866[66] = 0.0;
|
||||
out_99880963271144866[67] = 0.0;
|
||||
out_99880963271144866[68] = 0.0;
|
||||
out_99880963271144866[69] = 0.0;
|
||||
out_99880963271144866[70] = 1.0;
|
||||
out_99880963271144866[71] = 0.0;
|
||||
out_99880963271144866[72] = 0.0;
|
||||
out_99880963271144866[73] = 0.0;
|
||||
out_99880963271144866[74] = 0.0;
|
||||
out_99880963271144866[75] = 0.0;
|
||||
out_99880963271144866[76] = 0.0;
|
||||
out_99880963271144866[77] = 0.0;
|
||||
out_99880963271144866[78] = 0.0;
|
||||
out_99880963271144866[79] = 0.0;
|
||||
out_99880963271144866[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4306310304618992202) {
|
||||
out_4306310304618992202[0] = 1.0;
|
||||
out_4306310304618992202[1] = 0.0;
|
||||
out_4306310304618992202[2] = 0.0;
|
||||
out_4306310304618992202[3] = 0.0;
|
||||
out_4306310304618992202[4] = 0.0;
|
||||
out_4306310304618992202[5] = 0.0;
|
||||
out_4306310304618992202[6] = 0.0;
|
||||
out_4306310304618992202[7] = 0.0;
|
||||
out_4306310304618992202[8] = 0.0;
|
||||
out_4306310304618992202[9] = 0.0;
|
||||
out_4306310304618992202[10] = 1.0;
|
||||
out_4306310304618992202[11] = 0.0;
|
||||
out_4306310304618992202[12] = 0.0;
|
||||
out_4306310304618992202[13] = 0.0;
|
||||
out_4306310304618992202[14] = 0.0;
|
||||
out_4306310304618992202[15] = 0.0;
|
||||
out_4306310304618992202[16] = 0.0;
|
||||
out_4306310304618992202[17] = 0.0;
|
||||
out_4306310304618992202[18] = 0.0;
|
||||
out_4306310304618992202[19] = 0.0;
|
||||
out_4306310304618992202[20] = 1.0;
|
||||
out_4306310304618992202[21] = 0.0;
|
||||
out_4306310304618992202[22] = 0.0;
|
||||
out_4306310304618992202[23] = 0.0;
|
||||
out_4306310304618992202[24] = 0.0;
|
||||
out_4306310304618992202[25] = 0.0;
|
||||
out_4306310304618992202[26] = 0.0;
|
||||
out_4306310304618992202[27] = 0.0;
|
||||
out_4306310304618992202[28] = 0.0;
|
||||
out_4306310304618992202[29] = 0.0;
|
||||
out_4306310304618992202[30] = 1.0;
|
||||
out_4306310304618992202[31] = 0.0;
|
||||
out_4306310304618992202[32] = 0.0;
|
||||
out_4306310304618992202[33] = 0.0;
|
||||
out_4306310304618992202[34] = 0.0;
|
||||
out_4306310304618992202[35] = 0.0;
|
||||
out_4306310304618992202[36] = 0.0;
|
||||
out_4306310304618992202[37] = 0.0;
|
||||
out_4306310304618992202[38] = 0.0;
|
||||
out_4306310304618992202[39] = 0.0;
|
||||
out_4306310304618992202[40] = 1.0;
|
||||
out_4306310304618992202[41] = 0.0;
|
||||
out_4306310304618992202[42] = 0.0;
|
||||
out_4306310304618992202[43] = 0.0;
|
||||
out_4306310304618992202[44] = 0.0;
|
||||
out_4306310304618992202[45] = 0.0;
|
||||
out_4306310304618992202[46] = 0.0;
|
||||
out_4306310304618992202[47] = 0.0;
|
||||
out_4306310304618992202[48] = 0.0;
|
||||
out_4306310304618992202[49] = 0.0;
|
||||
out_4306310304618992202[50] = 1.0;
|
||||
out_4306310304618992202[51] = 0.0;
|
||||
out_4306310304618992202[52] = 0.0;
|
||||
out_4306310304618992202[53] = 0.0;
|
||||
out_4306310304618992202[54] = 0.0;
|
||||
out_4306310304618992202[55] = 0.0;
|
||||
out_4306310304618992202[56] = 0.0;
|
||||
out_4306310304618992202[57] = 0.0;
|
||||
out_4306310304618992202[58] = 0.0;
|
||||
out_4306310304618992202[59] = 0.0;
|
||||
out_4306310304618992202[60] = 1.0;
|
||||
out_4306310304618992202[61] = 0.0;
|
||||
out_4306310304618992202[62] = 0.0;
|
||||
out_4306310304618992202[63] = 0.0;
|
||||
out_4306310304618992202[64] = 0.0;
|
||||
out_4306310304618992202[65] = 0.0;
|
||||
out_4306310304618992202[66] = 0.0;
|
||||
out_4306310304618992202[67] = 0.0;
|
||||
out_4306310304618992202[68] = 0.0;
|
||||
out_4306310304618992202[69] = 0.0;
|
||||
out_4306310304618992202[70] = 1.0;
|
||||
out_4306310304618992202[71] = 0.0;
|
||||
out_4306310304618992202[72] = 0.0;
|
||||
out_4306310304618992202[73] = 0.0;
|
||||
out_4306310304618992202[74] = 0.0;
|
||||
out_4306310304618992202[75] = 0.0;
|
||||
out_4306310304618992202[76] = 0.0;
|
||||
out_4306310304618992202[77] = 0.0;
|
||||
out_4306310304618992202[78] = 0.0;
|
||||
out_4306310304618992202[79] = 0.0;
|
||||
out_4306310304618992202[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_4490574509847198287) {
|
||||
out_4490574509847198287[0] = state[0];
|
||||
out_4490574509847198287[1] = state[1];
|
||||
out_4490574509847198287[2] = state[2];
|
||||
out_4490574509847198287[3] = state[3];
|
||||
out_4490574509847198287[4] = state[4];
|
||||
out_4490574509847198287[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_4490574509847198287[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_4490574509847198287[7] = state[7];
|
||||
out_4490574509847198287[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_841039768515563673) {
|
||||
out_841039768515563673[0] = state[0];
|
||||
out_841039768515563673[1] = state[1];
|
||||
out_841039768515563673[2] = state[2];
|
||||
out_841039768515563673[3] = state[3];
|
||||
out_841039768515563673[4] = state[4];
|
||||
out_841039768515563673[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_841039768515563673[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_841039768515563673[7] = state[7];
|
||||
out_841039768515563673[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_5588273031121660281) {
|
||||
out_5588273031121660281[0] = 1;
|
||||
out_5588273031121660281[1] = 0;
|
||||
out_5588273031121660281[2] = 0;
|
||||
out_5588273031121660281[3] = 0;
|
||||
out_5588273031121660281[4] = 0;
|
||||
out_5588273031121660281[5] = 0;
|
||||
out_5588273031121660281[6] = 0;
|
||||
out_5588273031121660281[7] = 0;
|
||||
out_5588273031121660281[8] = 0;
|
||||
out_5588273031121660281[9] = 0;
|
||||
out_5588273031121660281[10] = 1;
|
||||
out_5588273031121660281[11] = 0;
|
||||
out_5588273031121660281[12] = 0;
|
||||
out_5588273031121660281[13] = 0;
|
||||
out_5588273031121660281[14] = 0;
|
||||
out_5588273031121660281[15] = 0;
|
||||
out_5588273031121660281[16] = 0;
|
||||
out_5588273031121660281[17] = 0;
|
||||
out_5588273031121660281[18] = 0;
|
||||
out_5588273031121660281[19] = 0;
|
||||
out_5588273031121660281[20] = 1;
|
||||
out_5588273031121660281[21] = 0;
|
||||
out_5588273031121660281[22] = 0;
|
||||
out_5588273031121660281[23] = 0;
|
||||
out_5588273031121660281[24] = 0;
|
||||
out_5588273031121660281[25] = 0;
|
||||
out_5588273031121660281[26] = 0;
|
||||
out_5588273031121660281[27] = 0;
|
||||
out_5588273031121660281[28] = 0;
|
||||
out_5588273031121660281[29] = 0;
|
||||
out_5588273031121660281[30] = 1;
|
||||
out_5588273031121660281[31] = 0;
|
||||
out_5588273031121660281[32] = 0;
|
||||
out_5588273031121660281[33] = 0;
|
||||
out_5588273031121660281[34] = 0;
|
||||
out_5588273031121660281[35] = 0;
|
||||
out_5588273031121660281[36] = 0;
|
||||
out_5588273031121660281[37] = 0;
|
||||
out_5588273031121660281[38] = 0;
|
||||
out_5588273031121660281[39] = 0;
|
||||
out_5588273031121660281[40] = 1;
|
||||
out_5588273031121660281[41] = 0;
|
||||
out_5588273031121660281[42] = 0;
|
||||
out_5588273031121660281[43] = 0;
|
||||
out_5588273031121660281[44] = 0;
|
||||
out_5588273031121660281[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_5588273031121660281[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5588273031121660281[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5588273031121660281[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5588273031121660281[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_5588273031121660281[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5588273031121660281[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5588273031121660281[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5588273031121660281[53] = -9.8100000000000005*dt;
|
||||
out_5588273031121660281[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_5588273031121660281[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5588273031121660281[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5588273031121660281[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5588273031121660281[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_5588273031121660281[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5588273031121660281[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_5588273031121660281[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5588273031121660281[62] = 0;
|
||||
out_5588273031121660281[63] = 0;
|
||||
out_5588273031121660281[64] = 0;
|
||||
out_5588273031121660281[65] = 0;
|
||||
out_5588273031121660281[66] = 0;
|
||||
out_5588273031121660281[67] = 0;
|
||||
out_5588273031121660281[68] = 0;
|
||||
out_5588273031121660281[69] = 0;
|
||||
out_5588273031121660281[70] = 1;
|
||||
out_5588273031121660281[71] = 0;
|
||||
out_5588273031121660281[72] = 0;
|
||||
out_5588273031121660281[73] = 0;
|
||||
out_5588273031121660281[74] = 0;
|
||||
out_5588273031121660281[75] = 0;
|
||||
out_5588273031121660281[76] = 0;
|
||||
out_5588273031121660281[77] = 0;
|
||||
out_5588273031121660281[78] = 0;
|
||||
out_5588273031121660281[79] = 0;
|
||||
out_5588273031121660281[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3325406224632462615) {
|
||||
out_3325406224632462615[0] = 1;
|
||||
out_3325406224632462615[1] = 0;
|
||||
out_3325406224632462615[2] = 0;
|
||||
out_3325406224632462615[3] = 0;
|
||||
out_3325406224632462615[4] = 0;
|
||||
out_3325406224632462615[5] = 0;
|
||||
out_3325406224632462615[6] = 0;
|
||||
out_3325406224632462615[7] = 0;
|
||||
out_3325406224632462615[8] = 0;
|
||||
out_3325406224632462615[9] = 0;
|
||||
out_3325406224632462615[10] = 1;
|
||||
out_3325406224632462615[11] = 0;
|
||||
out_3325406224632462615[12] = 0;
|
||||
out_3325406224632462615[13] = 0;
|
||||
out_3325406224632462615[14] = 0;
|
||||
out_3325406224632462615[15] = 0;
|
||||
out_3325406224632462615[16] = 0;
|
||||
out_3325406224632462615[17] = 0;
|
||||
out_3325406224632462615[18] = 0;
|
||||
out_3325406224632462615[19] = 0;
|
||||
out_3325406224632462615[20] = 1;
|
||||
out_3325406224632462615[21] = 0;
|
||||
out_3325406224632462615[22] = 0;
|
||||
out_3325406224632462615[23] = 0;
|
||||
out_3325406224632462615[24] = 0;
|
||||
out_3325406224632462615[25] = 0;
|
||||
out_3325406224632462615[26] = 0;
|
||||
out_3325406224632462615[27] = 0;
|
||||
out_3325406224632462615[28] = 0;
|
||||
out_3325406224632462615[29] = 0;
|
||||
out_3325406224632462615[30] = 1;
|
||||
out_3325406224632462615[31] = 0;
|
||||
out_3325406224632462615[32] = 0;
|
||||
out_3325406224632462615[33] = 0;
|
||||
out_3325406224632462615[34] = 0;
|
||||
out_3325406224632462615[35] = 0;
|
||||
out_3325406224632462615[36] = 0;
|
||||
out_3325406224632462615[37] = 0;
|
||||
out_3325406224632462615[38] = 0;
|
||||
out_3325406224632462615[39] = 0;
|
||||
out_3325406224632462615[40] = 1;
|
||||
out_3325406224632462615[41] = 0;
|
||||
out_3325406224632462615[42] = 0;
|
||||
out_3325406224632462615[43] = 0;
|
||||
out_3325406224632462615[44] = 0;
|
||||
out_3325406224632462615[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_3325406224632462615[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3325406224632462615[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3325406224632462615[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3325406224632462615[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_3325406224632462615[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3325406224632462615[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3325406224632462615[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3325406224632462615[53] = -9.8100000000000005*dt;
|
||||
out_3325406224632462615[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_3325406224632462615[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3325406224632462615[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3325406224632462615[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3325406224632462615[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_3325406224632462615[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3325406224632462615[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_3325406224632462615[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3325406224632462615[62] = 0;
|
||||
out_3325406224632462615[63] = 0;
|
||||
out_3325406224632462615[64] = 0;
|
||||
out_3325406224632462615[65] = 0;
|
||||
out_3325406224632462615[66] = 0;
|
||||
out_3325406224632462615[67] = 0;
|
||||
out_3325406224632462615[68] = 0;
|
||||
out_3325406224632462615[69] = 0;
|
||||
out_3325406224632462615[70] = 1;
|
||||
out_3325406224632462615[71] = 0;
|
||||
out_3325406224632462615[72] = 0;
|
||||
out_3325406224632462615[73] = 0;
|
||||
out_3325406224632462615[74] = 0;
|
||||
out_3325406224632462615[75] = 0;
|
||||
out_3325406224632462615[76] = 0;
|
||||
out_3325406224632462615[77] = 0;
|
||||
out_3325406224632462615[78] = 0;
|
||||
out_3325406224632462615[79] = 0;
|
||||
out_3325406224632462615[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_4633670035125740311) {
|
||||
out_4633670035125740311[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_8501492422434664386) {
|
||||
out_8501492422434664386[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_9153674884526169513) {
|
||||
out_9153674884526169513[0] = 0;
|
||||
out_9153674884526169513[1] = 0;
|
||||
out_9153674884526169513[2] = 0;
|
||||
out_9153674884526169513[3] = 0;
|
||||
out_9153674884526169513[4] = 0;
|
||||
out_9153674884526169513[5] = 0;
|
||||
out_9153674884526169513[6] = 1;
|
||||
out_9153674884526169513[7] = 0;
|
||||
out_9153674884526169513[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_7217655417465113750) {
|
||||
out_7217655417465113750[0] = 0;
|
||||
out_7217655417465113750[1] = 0;
|
||||
out_7217655417465113750[2] = 0;
|
||||
out_7217655417465113750[3] = 0;
|
||||
out_7217655417465113750[4] = 0;
|
||||
out_7217655417465113750[5] = 0;
|
||||
out_7217655417465113750[6] = 1;
|
||||
out_7217655417465113750[7] = 0;
|
||||
out_7217655417465113750[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_4147879785077922233) {
|
||||
out_4147879785077922233[0] = state[4];
|
||||
out_4147879785077922233[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_2528371558444461081) {
|
||||
out_2528371558444461081[0] = state[4];
|
||||
out_2528371558444461081[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_7067361405204513541) {
|
||||
out_7067361405204513541[0] = 0;
|
||||
out_7067361405204513541[1] = 0;
|
||||
out_7067361405204513541[2] = 0;
|
||||
out_7067361405204513541[3] = 0;
|
||||
out_7067361405204513541[4] = 1;
|
||||
out_7067361405204513541[5] = 0;
|
||||
out_7067361405204513541[6] = 0;
|
||||
out_7067361405204513541[7] = 0;
|
||||
out_7067361405204513541[8] = 0;
|
||||
out_7067361405204513541[9] = 0;
|
||||
out_7067361405204513541[10] = 0;
|
||||
out_7067361405204513541[11] = 0;
|
||||
out_7067361405204513541[12] = 0;
|
||||
out_7067361405204513541[13] = 0;
|
||||
out_7067361405204513541[14] = 1;
|
||||
out_7067361405204513541[15] = 0;
|
||||
out_7067361405204513541[16] = 0;
|
||||
out_7067361405204513541[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_7688112899508452474) {
|
||||
out_7688112899508452474[0] = 0;
|
||||
out_7688112899508452474[1] = 0;
|
||||
out_7688112899508452474[2] = 0;
|
||||
out_7688112899508452474[3] = 0;
|
||||
out_7688112899508452474[4] = 1;
|
||||
out_7688112899508452474[5] = 0;
|
||||
out_7688112899508452474[6] = 0;
|
||||
out_7688112899508452474[7] = 0;
|
||||
out_7688112899508452474[8] = 0;
|
||||
out_7688112899508452474[9] = 0;
|
||||
out_7688112899508452474[10] = 0;
|
||||
out_7688112899508452474[11] = 0;
|
||||
out_7688112899508452474[12] = 0;
|
||||
out_7688112899508452474[13] = 0;
|
||||
out_7688112899508452474[14] = 1;
|
||||
out_7688112899508452474[15] = 0;
|
||||
out_7688112899508452474[16] = 0;
|
||||
out_7688112899508452474[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8271119563379762661) {
|
||||
out_8271119563379762661[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_8776686484719170275) {
|
||||
out_8776686484719170275[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2376378847691765348) {
|
||||
out_2376378847691765348[0] = 0;
|
||||
out_2376378847691765348[1] = 0;
|
||||
out_2376378847691765348[2] = 0;
|
||||
out_2376378847691765348[3] = 0;
|
||||
out_2376378847691765348[4] = 1;
|
||||
out_2376378847691765348[5] = 0;
|
||||
out_2376378847691765348[6] = 0;
|
||||
out_2376378847691765348[7] = 0;
|
||||
out_2376378847691765348[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6701392326116829668) {
|
||||
out_6701392326116829668[0] = 0;
|
||||
out_6701392326116829668[1] = 0;
|
||||
out_6701392326116829668[2] = 0;
|
||||
out_6701392326116829668[3] = 0;
|
||||
out_6701392326116829668[4] = 1;
|
||||
out_6701392326116829668[5] = 0;
|
||||
out_6701392326116829668[6] = 0;
|
||||
out_6701392326116829668[7] = 0;
|
||||
out_6701392326116829668[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_749423849060713781) {
|
||||
out_749423849060713781[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_8173370600042692758) {
|
||||
out_8173370600042692758[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_5412171565652113289) {
|
||||
out_5412171565652113289[0] = 0;
|
||||
out_5412171565652113289[1] = 0;
|
||||
out_5412171565652113289[2] = 0;
|
||||
out_5412171565652113289[3] = 0;
|
||||
out_5412171565652113289[4] = 0;
|
||||
out_5412171565652113289[5] = 0;
|
||||
out_5412171565652113289[6] = 0;
|
||||
out_5412171565652113289[7] = 1;
|
||||
out_5412171565652113289[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_7487585337370381642) {
|
||||
out_7487585337370381642[0] = 0;
|
||||
out_7487585337370381642[1] = 0;
|
||||
out_7487585337370381642[2] = 0;
|
||||
out_7487585337370381642[3] = 0;
|
||||
out_7487585337370381642[4] = 0;
|
||||
out_7487585337370381642[5] = 0;
|
||||
out_7487585337370381642[6] = 0;
|
||||
out_7487585337370381642[7] = 1;
|
||||
out_7487585337370381642[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_2801473399302960502) {
|
||||
out_2801473399302960502[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_4943578383614041585) {
|
||||
out_4943578383614041585[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6849572625582504532) {
|
||||
out_6849572625582504532[0] = 0;
|
||||
out_6849572625582504532[1] = 0;
|
||||
out_6849572625582504532[2] = 0;
|
||||
out_6849572625582504532[3] = 1;
|
||||
out_6849572625582504532[4] = 0;
|
||||
out_6849572625582504532[5] = 0;
|
||||
out_6849572625582504532[6] = 0;
|
||||
out_6849572625582504532[7] = 0;
|
||||
out_6849572625582504532[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_8924986397300772885) {
|
||||
out_8924986397300772885[0] = 0;
|
||||
out_8924986397300772885[1] = 0;
|
||||
out_8924986397300772885[2] = 0;
|
||||
out_8924986397300772885[3] = 1;
|
||||
out_8924986397300772885[4] = 0;
|
||||
out_8924986397300772885[5] = 0;
|
||||
out_8924986397300772885[6] = 0;
|
||||
out_8924986397300772885[7] = 0;
|
||||
out_8924986397300772885[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_5173951242668943310) {
|
||||
out_5173951242668943310[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4668384321329535696) {
|
||||
out_4668384321329535696[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_8912176792012229989) {
|
||||
out_8912176792012229989[0] = 0;
|
||||
out_8912176792012229989[1] = 1;
|
||||
out_8912176792012229989[2] = 0;
|
||||
out_8912176792012229989[3] = 0;
|
||||
out_8912176792012229989[4] = 0;
|
||||
out_8912176792012229989[5] = 0;
|
||||
out_8912176792012229989[6] = 0;
|
||||
out_8912176792012229989[7] = 0;
|
||||
out_8912176792012229989[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_7211623670431221852) {
|
||||
out_7211623670431221852[0] = 0;
|
||||
out_7211623670431221852[1] = 1;
|
||||
out_7211623670431221852[2] = 0;
|
||||
out_7211623670431221852[3] = 0;
|
||||
out_7211623670431221852[4] = 0;
|
||||
out_7211623670431221852[5] = 0;
|
||||
out_7211623670431221852[6] = 0;
|
||||
out_7211623670431221852[7] = 0;
|
||||
out_7211623670431221852[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_5994836064963036638) {
|
||||
out_5994836064963036638[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_6247021973002058322) {
|
||||
out_6247021973002058322[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6948546520446903738) {
|
||||
out_6948546520446903738[0] = 1;
|
||||
out_6948546520446903738[1] = 0;
|
||||
out_6948546520446903738[2] = 0;
|
||||
out_6948546520446903738[3] = 0;
|
||||
out_6948546520446903738[4] = 0;
|
||||
out_6948546520446903738[5] = 0;
|
||||
out_6948546520446903738[6] = 0;
|
||||
out_6948546520446903738[7] = 0;
|
||||
out_6948546520446903738[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_9175253941996548103) {
|
||||
out_9175253941996548103[0] = 1;
|
||||
out_9175253941996548103[1] = 0;
|
||||
out_9175253941996548103[2] = 0;
|
||||
out_9175253941996548103[3] = 0;
|
||||
out_9175253941996548103[4] = 0;
|
||||
out_9175253941996548103[5] = 0;
|
||||
out_9175253941996548103[6] = 0;
|
||||
out_9175253941996548103[7] = 0;
|
||||
out_9175253941996548103[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_6352515274334922980) {
|
||||
out_6352515274334922980[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_1448590970011147238) {
|
||||
out_1448590970011147238[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_9184320846403129941) {
|
||||
out_9184320846403129941[0] = 0;
|
||||
out_9184320846403129941[1] = 0;
|
||||
out_9184320846403129941[2] = 0;
|
||||
out_9184320846403129941[3] = 0;
|
||||
out_9184320846403129941[4] = 0;
|
||||
out_9184320846403129941[5] = 0;
|
||||
out_9184320846403129941[6] = 0;
|
||||
out_9184320846403129941[7] = 0;
|
||||
out_9184320846403129941[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_7187009455588153322) {
|
||||
out_7187009455588153322[0] = 0;
|
||||
out_7187009455588153322[1] = 0;
|
||||
out_7187009455588153322[2] = 0;
|
||||
out_7187009455588153322[3] = 0;
|
||||
out_7187009455588153322[4] = 0;
|
||||
out_7187009455588153322[5] = 0;
|
||||
out_7187009455588153322[6] = 0;
|
||||
out_7187009455588153322[7] = 0;
|
||||
out_7187009455588153322[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_4503132331689013745) {
|
||||
err_fun(nom_x, delta_x, out_4503132331689013745);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3010729618614624127) {
|
||||
err_fun(nom_x, delta_x, out_3010729618614624127);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5519222819843562437) {
|
||||
inv_err_fun(nom_x, true_x, out_5519222819843562437);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3985552318855446440) {
|
||||
inv_err_fun(nom_x, true_x, out_3985552318855446440);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_99880963271144866) {
|
||||
H_mod_fun(state, out_99880963271144866);
|
||||
void car_H_mod_fun(double *state, double *out_4306310304618992202) {
|
||||
H_mod_fun(state, out_4306310304618992202);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_4490574509847198287) {
|
||||
f_fun(state, dt, out_4490574509847198287);
|
||||
void car_f_fun(double *state, double dt, double *out_841039768515563673) {
|
||||
f_fun(state, dt, out_841039768515563673);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_5588273031121660281) {
|
||||
F_fun(state, dt, out_5588273031121660281);
|
||||
void car_F_fun(double *state, double dt, double *out_3325406224632462615) {
|
||||
F_fun(state, dt, out_3325406224632462615);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_4633670035125740311) {
|
||||
h_25(state, unused, out_4633670035125740311);
|
||||
void car_h_25(double *state, double *unused, double *out_8501492422434664386) {
|
||||
h_25(state, unused, out_8501492422434664386);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_9153674884526169513) {
|
||||
H_25(state, unused, out_9153674884526169513);
|
||||
void car_H_25(double *state, double *unused, double *out_7217655417465113750) {
|
||||
H_25(state, unused, out_7217655417465113750);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_4147879785077922233) {
|
||||
h_24(state, unused, out_4147879785077922233);
|
||||
void car_h_24(double *state, double *unused, double *out_2528371558444461081) {
|
||||
h_24(state, unused, out_2528371558444461081);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_7067361405204513541) {
|
||||
H_24(state, unused, out_7067361405204513541);
|
||||
void car_H_24(double *state, double *unused, double *out_7688112899508452474) {
|
||||
H_24(state, unused, out_7688112899508452474);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8271119563379762661) {
|
||||
h_30(state, unused, out_8271119563379762661);
|
||||
void car_h_30(double *state, double *unused, double *out_8776686484719170275) {
|
||||
h_30(state, unused, out_8776686484719170275);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2376378847691765348) {
|
||||
H_30(state, unused, out_2376378847691765348);
|
||||
void car_H_30(double *state, double *unused, double *out_6701392326116829668) {
|
||||
H_30(state, unused, out_6701392326116829668);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_749423849060713781) {
|
||||
h_26(state, unused, out_749423849060713781);
|
||||
void car_h_26(double *state, double *unused, double *out_8173370600042692758) {
|
||||
h_26(state, unused, out_8173370600042692758);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_5412171565652113289) {
|
||||
H_26(state, unused, out_5412171565652113289);
|
||||
void car_H_26(double *state, double *unused, double *out_7487585337370381642) {
|
||||
H_26(state, unused, out_7487585337370381642);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_2801473399302960502) {
|
||||
h_27(state, unused, out_2801473399302960502);
|
||||
void car_h_27(double *state, double *unused, double *out_4943578383614041585) {
|
||||
h_27(state, unused, out_4943578383614041585);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6849572625582504532) {
|
||||
H_27(state, unused, out_6849572625582504532);
|
||||
void car_H_27(double *state, double *unused, double *out_8924986397300772885) {
|
||||
H_27(state, unused, out_8924986397300772885);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_5173951242668943310) {
|
||||
h_29(state, unused, out_5173951242668943310);
|
||||
void car_h_29(double *state, double *unused, double *out_4668384321329535696) {
|
||||
h_29(state, unused, out_4668384321329535696);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_8912176792012229989) {
|
||||
H_29(state, unused, out_8912176792012229989);
|
||||
void car_H_29(double *state, double *unused, double *out_7211623670431221852) {
|
||||
H_29(state, unused, out_7211623670431221852);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_5994836064963036638) {
|
||||
h_28(state, unused, out_5994836064963036638);
|
||||
void car_h_28(double *state, double *unused, double *out_6247021973002058322) {
|
||||
h_28(state, unused, out_6247021973002058322);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6948546520446903738) {
|
||||
H_28(state, unused, out_6948546520446903738);
|
||||
void car_H_28(double *state, double *unused, double *out_9175253941996548103) {
|
||||
H_28(state, unused, out_9175253941996548103);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_6352515274334922980) {
|
||||
h_31(state, unused, out_6352515274334922980);
|
||||
void car_h_31(double *state, double *unused, double *out_1448590970011147238) {
|
||||
h_31(state, unused, out_1448590970011147238);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_9184320846403129941) {
|
||||
H_31(state, unused, out_9184320846403129941);
|
||||
void car_H_31(double *state, double *unused, double *out_7187009455588153322) {
|
||||
H_31(state, unused, out_7187009455588153322);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_4503132331689013745);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5519222819843562437);
|
||||
void car_H_mod_fun(double *state, double *out_99880963271144866);
|
||||
void car_f_fun(double *state, double dt, double *out_4490574509847198287);
|
||||
void car_F_fun(double *state, double dt, double *out_5588273031121660281);
|
||||
void car_h_25(double *state, double *unused, double *out_4633670035125740311);
|
||||
void car_H_25(double *state, double *unused, double *out_9153674884526169513);
|
||||
void car_h_24(double *state, double *unused, double *out_4147879785077922233);
|
||||
void car_H_24(double *state, double *unused, double *out_7067361405204513541);
|
||||
void car_h_30(double *state, double *unused, double *out_8271119563379762661);
|
||||
void car_H_30(double *state, double *unused, double *out_2376378847691765348);
|
||||
void car_h_26(double *state, double *unused, double *out_749423849060713781);
|
||||
void car_H_26(double *state, double *unused, double *out_5412171565652113289);
|
||||
void car_h_27(double *state, double *unused, double *out_2801473399302960502);
|
||||
void car_H_27(double *state, double *unused, double *out_6849572625582504532);
|
||||
void car_h_29(double *state, double *unused, double *out_5173951242668943310);
|
||||
void car_H_29(double *state, double *unused, double *out_8912176792012229989);
|
||||
void car_h_28(double *state, double *unused, double *out_5994836064963036638);
|
||||
void car_H_28(double *state, double *unused, double *out_6948546520446903738);
|
||||
void car_h_31(double *state, double *unused, double *out_6352515274334922980);
|
||||
void car_H_31(double *state, double *unused, double *out_9184320846403129941);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3010729618614624127);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3985552318855446440);
|
||||
void car_H_mod_fun(double *state, double *out_4306310304618992202);
|
||||
void car_f_fun(double *state, double dt, double *out_841039768515563673);
|
||||
void car_F_fun(double *state, double dt, double *out_3325406224632462615);
|
||||
void car_h_25(double *state, double *unused, double *out_8501492422434664386);
|
||||
void car_H_25(double *state, double *unused, double *out_7217655417465113750);
|
||||
void car_h_24(double *state, double *unused, double *out_2528371558444461081);
|
||||
void car_H_24(double *state, double *unused, double *out_7688112899508452474);
|
||||
void car_h_30(double *state, double *unused, double *out_8776686484719170275);
|
||||
void car_H_30(double *state, double *unused, double *out_6701392326116829668);
|
||||
void car_h_26(double *state, double *unused, double *out_8173370600042692758);
|
||||
void car_H_26(double *state, double *unused, double *out_7487585337370381642);
|
||||
void car_h_27(double *state, double *unused, double *out_4943578383614041585);
|
||||
void car_H_27(double *state, double *unused, double *out_8924986397300772885);
|
||||
void car_h_29(double *state, double *unused, double *out_4668384321329535696);
|
||||
void car_H_29(double *state, double *unused, double *out_7211623670431221852);
|
||||
void car_h_28(double *state, double *unused, double *out_6247021973002058322);
|
||||
void car_H_28(double *state, double *unused, double *out_9175253941996548103);
|
||||
void car_h_31(double *state, double *unused, double *out_1448590970011147238);
|
||||
void car_H_31(double *state, double *unused, double *out_7187009455588153322);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
Binary file not shown.
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_8799966904452395012);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1661397671847398073);
|
||||
void pose_H_mod_fun(double *state, double *out_2131008325054536789);
|
||||
void pose_f_fun(double *state, double dt, double *out_884777716370448931);
|
||||
void pose_F_fun(double *state, double dt, double *out_6755798908020795646);
|
||||
void pose_h_4(double *state, double *unused, double *out_4561759232303120700);
|
||||
void pose_H_4(double *state, double *unused, double *out_5331418226156006813);
|
||||
void pose_h_10(double *state, double *unused, double *out_8855709713594721197);
|
||||
void pose_H_10(double *state, double *unused, double *out_3758101988975610904);
|
||||
void pose_h_13(double *state, double *unused, double *out_6255148116667054704);
|
||||
void pose_H_13(double *state, double *unused, double *out_2279212982160694116);
|
||||
void pose_h_14(double *state, double *unused, double *out_5422638595254952120);
|
||||
void pose_H_14(double *state, double *unused, double *out_8414206658451379109);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_342973137176612241);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4414887224430184744);
|
||||
void pose_H_mod_fun(double *state, double *out_824354775938542426);
|
||||
void pose_f_fun(double *state, double dt, double *out_432270031952541382);
|
||||
void pose_F_fun(double *state, double dt, double *out_6844361959189325516);
|
||||
void pose_h_4(double *state, double *unused, double *out_948512472116913193);
|
||||
void pose_H_4(double *state, double *unused, double *out_4098576854729491679);
|
||||
void pose_h_10(double *state, double *unused, double *out_8780443367168833320);
|
||||
void pose_H_10(double *state, double *unused, double *out_7022073385523406729);
|
||||
void pose_h_13(double *state, double *unused, double *out_3854432803415109726);
|
||||
void pose_H_13(double *state, double *unused, double *out_3512054353587209250);
|
||||
void pose_h_14(double *state, double *unused, double *out_3383842427869284419);
|
||||
void pose_H_14(double *state, double *unused, double *out_135335998390007150);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
@@ -200,25 +200,6 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
|
||||
return current_valid
|
||||
|
||||
|
||||
# TODO: Remove this function after few releases (added in 0.9.9)
|
||||
def migrate_cached_vehicle_params_if_needed(params: Params):
|
||||
last_parameters_data_old = params.get("LiveParameters")
|
||||
last_parameters_data = params.get("LiveParametersV2")
|
||||
if last_parameters_data_old is None or last_parameters_data is not None:
|
||||
return
|
||||
|
||||
try:
|
||||
last_parameters_msg = messaging.new_message('liveParameters')
|
||||
last_parameters_msg.liveParameters.valid = True
|
||||
last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
|
||||
last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
|
||||
last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
|
||||
params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to perform parameter migration: {e}")
|
||||
params.remove("LiveParameters")
|
||||
|
||||
|
||||
def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
|
||||
last_parameters_data = params.get("LiveParametersV2")
|
||||
last_carparams_data = params.get("CarParamsPrevRoute")
|
||||
@@ -273,8 +254,6 @@ def main():
|
||||
params = Params()
|
||||
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
||||
|
||||
migrate_cached_vehicle_params_if_needed(params)
|
||||
|
||||
steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
|
||||
learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
|
||||
|
||||
|
||||
@@ -81,6 +81,7 @@ class TestLagd:
|
||||
assert retrieve_initial_lag(params, CP) is None
|
||||
|
||||
def test_ncc(self):
|
||||
rng = np.random.default_rng()
|
||||
lag_frames = random.randint(1, 19)
|
||||
|
||||
desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
|
||||
@@ -91,15 +92,15 @@ class TestLagd:
|
||||
assert np.argmax(corr) == lag_frames
|
||||
|
||||
# add some noise
|
||||
desired_sig += np.random.normal(0, 0.05, len(desired_sig))
|
||||
actual_sig += np.random.normal(0, 0.05, len(actual_sig))
|
||||
desired_sig += rng.normal(0, 0.05, len(desired_sig))
|
||||
actual_sig += rng.normal(0, 0.05, len(actual_sig))
|
||||
corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
|
||||
assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
|
||||
|
||||
# mask out 40% of the values, and make them noise
|
||||
mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
|
||||
desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
|
||||
actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
|
||||
mask = rng.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
|
||||
desired_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
|
||||
actual_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
|
||||
corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
|
||||
assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
|
||||
|
||||
|
||||
@@ -37,9 +37,9 @@ def get_select_fields_data(logs):
|
||||
def sig_smooth(signal):
|
||||
return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
|
||||
def get_nested_keys(msg, keys):
|
||||
val = None
|
||||
val = msg
|
||||
for key in keys:
|
||||
val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
|
||||
val = getattr(val, key) if isinstance(key, str) else val[key]
|
||||
return val
|
||||
lp = [x.livePose for x in logs if x.which() == 'livePose']
|
||||
data = defaultdict(list)
|
||||
|
||||
@@ -2,7 +2,7 @@ import random
|
||||
import numpy as np
|
||||
|
||||
from openpilot.cereal import messaging
|
||||
from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
|
||||
from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params
|
||||
from openpilot.selfdrive.locationd.models.car_kf import CarKalman
|
||||
from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
|
||||
from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
|
||||
@@ -30,38 +30,9 @@ class TestParamsd:
|
||||
params.put("LiveParametersV2", msg.to_bytes(), block=True)
|
||||
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
|
||||
|
||||
migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
|
||||
sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
|
||||
np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
|
||||
np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
|
||||
np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
|
||||
np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
|
||||
np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
|
||||
|
||||
# TODO Remove this test after the support for old format is removed
|
||||
def test_read_saved_params_old_format(self):
|
||||
params = Params()
|
||||
|
||||
lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
|
||||
CP = next(m for m in lr if m.which() == "carParams").carParams
|
||||
|
||||
msg = get_random_live_parameters(CP)
|
||||
params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
|
||||
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
|
||||
params.remove("LiveParametersV2")
|
||||
|
||||
migrate_cached_vehicle_params_if_needed(params)
|
||||
sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
|
||||
np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
|
||||
np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
|
||||
np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
|
||||
assert params.get("LiveParametersV2") is not None
|
||||
|
||||
def test_read_saved_params_corrupted_old_format(self):
|
||||
params = Params()
|
||||
params.put("LiveParameters", {}, block=True)
|
||||
params.remove("LiveParametersV2")
|
||||
|
||||
migrate_cached_vehicle_params_if_needed(params)
|
||||
assert params.get("LiveParameters") is None
|
||||
assert params.get("LiveParametersV2") is None
|
||||
|
||||
@@ -2,24 +2,25 @@ from opendbc.car.structs import car
|
||||
from openpilot.selfdrive.locationd.torqued import TorqueEstimator
|
||||
|
||||
|
||||
def test_cal_percent():
|
||||
est = TorqueEstimator(car.CarParams())
|
||||
msg = est.get_msg()
|
||||
assert msg.liveTorqueParameters.calPerc == 0
|
||||
class TestTorqued:
|
||||
def test_cal_percent(self):
|
||||
est = TorqueEstimator(car.CarParams())
|
||||
msg = est.get_msg()
|
||||
assert msg.liveTorqueParameters.calPerc == 0
|
||||
|
||||
for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
|
||||
est.filtered_points.buckets_min_points.values(), strict=True):
|
||||
for _ in range(int(min_pts)):
|
||||
est.filtered_points.add_point((low + high) / 2.0, 0.0)
|
||||
for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
|
||||
est.filtered_points.buckets_min_points.values(), strict=True):
|
||||
for _ in range(int(min_pts)):
|
||||
est.filtered_points.add_point((low + high) / 2.0, 0.0)
|
||||
|
||||
# enough bucket points, but not enough total points
|
||||
msg = est.get_msg()
|
||||
assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
|
||||
# enough bucket points, but not enough total points
|
||||
msg = est.get_msg()
|
||||
assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
|
||||
|
||||
# add enough points to bucket with most capacity
|
||||
key = list(est.filtered_points.buckets)[0]
|
||||
for _ in range(est.min_points_total - len(est.filtered_points)):
|
||||
est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
|
||||
# add enough points to bucket with most capacity
|
||||
key = list(est.filtered_points.buckets)[0]
|
||||
for _ in range(est.min_points_total - len(est.filtered_points)):
|
||||
est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
|
||||
|
||||
msg = est.get_msg()
|
||||
assert msg.liveTorqueParameters.calPerc == 100
|
||||
msg = est.get_msg()
|
||||
assert msg.liveTorqueParameters.calPerc == 100
|
||||
|
||||
@@ -62,14 +62,14 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
self.lag = 0.0
|
||||
self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters
|
||||
if decimated:
|
||||
self.min_bucket_points = MIN_BUCKET_POINTS / 10
|
||||
self.min_bucket_points: list[float] = (MIN_BUCKET_POINTS / 10).tolist()
|
||||
self.min_points_total = MIN_POINTS_TOTAL_QLOG
|
||||
self.fit_points = FIT_POINTS_TOTAL_QLOG
|
||||
self.factor_sanity = FACTOR_SANITY_QLOG
|
||||
self.friction_sanity = FRICTION_SANITY_QLOG
|
||||
|
||||
else:
|
||||
self.min_bucket_points = MIN_BUCKET_POINTS
|
||||
self.min_bucket_points = MIN_BUCKET_POINTS.tolist()
|
||||
self.min_points_total = MIN_POINTS_TOTAL
|
||||
self.fit_points = FIT_POINTS_TOTAL
|
||||
self.factor_sanity = FACTOR_SANITY
|
||||
@@ -120,9 +120,10 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
|
||||
'frictionCoefficient': cache_ltp.frictionCoefficientFiltered
|
||||
}
|
||||
initial_params['points'] = cache_ltp.points
|
||||
cached_points: list[list[float]] = [list(point) for point in cache_ltp.points]
|
||||
initial_params['points'] = cached_points
|
||||
self.decay = cache_ltp.decay
|
||||
self.filtered_points.load_points(initial_params['points'])
|
||||
self.filtered_points.load_points(cached_points)
|
||||
cloudlog.info("restored torque params from cache")
|
||||
except Exception:
|
||||
cloudlog.exception("failed to restore cached torque params")
|
||||
|
||||
@@ -13,6 +13,7 @@ from collections import namedtuple
|
||||
import numpy as np
|
||||
|
||||
from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
|
||||
from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
|
||||
|
||||
def _patch_tinygrad_fetch_fw():
|
||||
import hashlib
|
||||
@@ -242,7 +243,7 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):
|
||||
SEED = 42
|
||||
def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy = make_queues(Device.DEFAULT)
|
||||
np.random.seed(seed)
|
||||
rng = np.random.default_rng(seed)
|
||||
Tensor.manual_seed(seed)
|
||||
|
||||
testing = test_val is not None or test_buffers is not None
|
||||
@@ -250,7 +251,7 @@ def compile_jit(jit, make_random_inputs, input_keys, make_queues):
|
||||
|
||||
for i in range(n_runs):
|
||||
for v in npy.values():
|
||||
v[:] = np.random.randn(*v.shape).astype(v.dtype)
|
||||
v[:] = rng.standard_normal(v.shape).astype(v.dtype)
|
||||
Device.default.synchronize()
|
||||
random_inputs = make_random_inputs()
|
||||
st = time.perf_counter()
|
||||
@@ -311,6 +312,9 @@ if __name__ == "__main__":
|
||||
p.add_argument('--frame-skip', type=int, required=True)
|
||||
args = p.parse_args()
|
||||
|
||||
if 'USB+AMD' in os.environ.get('DEV', ''):
|
||||
wait_usbgpu_link()
|
||||
|
||||
model_path = read_file_chunked_to_disk(args.onnx)
|
||||
model_w, model_h = args.model_size
|
||||
|
||||
|
||||
@@ -25,6 +25,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_drivi
|
||||
from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
|
||||
from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
|
||||
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
@@ -94,7 +95,7 @@ class ModelState(ModelStateBase):
|
||||
self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
|
||||
self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
|
||||
self.full_frames: dict[str, Tensor] = {}
|
||||
self._blob_cache: dict[int, Tensor] = {}
|
||||
self._blob_cache: dict[tuple[str, int], Tensor] = {}
|
||||
self.parser = Parser()
|
||||
self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
|
||||
self.run_policy = jits['run_policy']
|
||||
@@ -173,6 +174,8 @@ def main(demo=False):
|
||||
if use_extra_client:
|
||||
cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
|
||||
|
||||
if USBGPU:
|
||||
wait_usbgpu_link()
|
||||
st = time.monotonic()
|
||||
cloudlog.warning("loading model")
|
||||
model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -41,7 +41,7 @@ class Parser:
|
||||
raw = outs[name]
|
||||
outs[name] = sigmoid(raw)
|
||||
|
||||
def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
|
||||
def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=()):
|
||||
if self.check_missing(outs, name):
|
||||
return
|
||||
raw = outs[name]
|
||||
|
||||
@@ -0,0 +1,34 @@
|
||||
import time
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.hardware.usb import CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID, usb_devices, controller, read_int
|
||||
|
||||
STABLE_SECONDS = 2.0
|
||||
STABLE_THRESHOLD = 5.0 # link errors per second
|
||||
|
||||
|
||||
def _chestnut_portli() -> Path | None:
|
||||
for device in usb_devices():
|
||||
if read_int(device / "idVendor", 16) == CHESTNUT_VENDOR_ID and \
|
||||
read_int(device / "idProduct", 16) == CHESTNUT_PRODUCT_ID:
|
||||
ctrl = controller(device)
|
||||
if ctrl is not None and (ctrl / "portli").exists():
|
||||
return ctrl / "portli"
|
||||
return None
|
||||
|
||||
|
||||
def wait_usbgpu_link(timeout: float = 30.0) -> None:
|
||||
portli = _chestnut_portli()
|
||||
if portli is None:
|
||||
return
|
||||
|
||||
t0 = time.monotonic()
|
||||
while time.monotonic() - t0 < timeout:
|
||||
start = read_int(portli, 0)
|
||||
time.sleep(STABLE_SECONDS)
|
||||
rate = (read_int(portli, 0) - start) / STABLE_SECONDS
|
||||
if rate <= STABLE_THRESHOLD:
|
||||
return
|
||||
cloudlog.warning(f"usbgpu link not stable: {rate:.0f} errors/s")
|
||||
cloudlog.error("usbgpu link never stabilized")
|
||||
@@ -41,7 +41,7 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
# lockout specs
|
||||
self._MAX_ALERT_3 = 2
|
||||
self._MAX_NO_RESPONSE = 1
|
||||
self._LOCKOUT_TIME = int(1800 / DT_DMON)
|
||||
self._LOCKOUT_TIMES = [int(60 * n_min / DT_DMON) for n_min in [1, 5, 15, 30]]
|
||||
|
||||
self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
|
||||
self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
|
||||
@@ -152,7 +152,10 @@ class DriverMonitoring:
|
||||
self.cnt_since_alert_3 = 0
|
||||
self.no_response_timeout = int(self.settings._NO_RESPONSE_TIMEOUT / DT_DMON)
|
||||
self.no_response_cnt = 0
|
||||
self.lockout_time = 0
|
||||
self.lockout_active = Params().get_bool("DriverTooDistracted")
|
||||
self.lockout_count = Params().get("DriverLockoutCount") or 0
|
||||
self.lockout_duration = self.settings._LOCKOUT_TIMES[min(max(self.lockout_count - 1, 0), len(self.settings._LOCKOUT_TIMES) - 1)]
|
||||
self.lockout_time_elapsed = 0
|
||||
self.step_change = 0.
|
||||
self.active_policy = MonitoringPolicy.vision
|
||||
self.driver_interacting = False
|
||||
@@ -163,7 +166,6 @@ class DriverMonitoring:
|
||||
self.threshold_alert_2 = 0.
|
||||
self.dcam_uncertain_cnt = 0
|
||||
self.dcam_reset_cnt = 0
|
||||
self.too_distracted = Params().get_bool("DriverTooDistracted")
|
||||
|
||||
self._reset_awareness()
|
||||
self._set_policy(MonitoringPolicy.vision)
|
||||
@@ -310,16 +312,20 @@ class DriverMonitoring:
|
||||
self.driver_interacting = driver_engaged
|
||||
|
||||
if self.alert_3_cnt >= self.settings._MAX_ALERT_3 or self.no_response_cnt >= self.settings._MAX_NO_RESPONSE:
|
||||
self.too_distracted = True
|
||||
if not self.lockout_active:
|
||||
self.lockout_count += 1
|
||||
self.lockout_duration = self.settings._LOCKOUT_TIMES[min(self.lockout_count - 1, len(self.settings._LOCKOUT_TIMES) - 1)]
|
||||
Params().put("DriverLockoutCount", self.lockout_count)
|
||||
self.lockout_active = True
|
||||
|
||||
if self.too_distracted:
|
||||
self.lockout_time += 1
|
||||
if self.lockout_time > self.settings._LOCKOUT_TIME:
|
||||
self.too_distracted = False
|
||||
if self.lockout_active:
|
||||
self.lockout_time_elapsed += 1
|
||||
if self.lockout_time_elapsed > self.lockout_duration:
|
||||
self.lockout_active = False
|
||||
self.alert_3_cnt = 0
|
||||
self.cnt_since_alert_3 = 0
|
||||
self.no_response_cnt = 0
|
||||
self.lockout_time = 0
|
||||
self.lockout_time_elapsed = 0
|
||||
|
||||
always_on_valid = self.always_on and not wrong_gear
|
||||
if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
|
||||
@@ -379,8 +385,10 @@ class DriverMonitoring:
|
||||
dat = messaging.new_message('driverMonitoringState', valid=valid)
|
||||
dm = dat.driverMonitoringState
|
||||
|
||||
dm.lockout = self.too_distracted
|
||||
dm.lockoutRecoveryPercent = to_percent(self.lockout_time / self.settings._LOCKOUT_TIME)
|
||||
dm.lockout = self.lockout_active
|
||||
dm.lockoutCount = self.lockout_count
|
||||
if self.lockout_active:
|
||||
dm.lockoutMinutesRemaining = max(1, round((self.lockout_duration - self.lockout_time_elapsed) * DT_DMON / 60.))
|
||||
dm.alert3Count = self.alert_3_cnt
|
||||
dm.noResponseCount = self.no_response_cnt
|
||||
dm.noResponseForceDecel = self.alert_level == AlertLevel.three and self.cnt_since_alert_3 >= self.no_response_timeout
|
||||
|
||||
@@ -86,21 +86,17 @@ class TestMonitoring:
|
||||
# engaged, distracted past red and beyond the no-response window -> unavailability response + lockout
|
||||
def test_distracted_lockout(self):
|
||||
alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
|
||||
s = d_status.settings
|
||||
assert alert_lvls[int(DISTRACTED_SECONDS_TO_RED / DT_DMON)] == 3
|
||||
assert d_status.alert_3_cnt == 1
|
||||
assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
|
||||
assert d_status.too_distracted
|
||||
assert d_status.lockout_time > 0
|
||||
assert d_status.lockout_active
|
||||
assert d_status.lockout_time_elapsed > 0
|
||||
assert d_status.lockout_count >= 1
|
||||
|
||||
# no face -> wheeltouch red, sustained past the no-response timeout -> unavailability response + lockout
|
||||
def test_invisible_lockout(self):
|
||||
_, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
|
||||
s = d_status.settings
|
||||
assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
|
||||
assert d_status.alert_3_cnt == 1
|
||||
assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
|
||||
assert d_status.too_distracted
|
||||
assert d_status.lockout_active
|
||||
assert d_status.lockout_count >= 1
|
||||
|
||||
# engaged, no face detected the whole time, no action
|
||||
def test_fully_invisible_driver(self):
|
||||
@@ -275,7 +271,7 @@ def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
|
||||
captured['op_engaged'] = op_engaged
|
||||
return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)
|
||||
|
||||
dm._update_events = spy
|
||||
object.__setattr__(dm, '_update_events', spy)
|
||||
dm.run_step(sm, demo=False)
|
||||
assert captured['op_engaged'] == expected_op_engaged
|
||||
assert captured['driver_engaged'] == expected_driver_engaged
|
||||
|
||||
Binary file not shown.
@@ -60,7 +60,7 @@ class TestPandad:
|
||||
|
||||
def test_in_reset(self):
|
||||
gpio_init(GPIO.STM_RST_N, True)
|
||||
gpio_set(GPIO.STM_RST_N, 1)
|
||||
gpio_set(GPIO.STM_RST_N, True)
|
||||
assert not Panda.list()
|
||||
self._run_test()
|
||||
|
||||
|
||||
@@ -38,10 +38,10 @@ class TestBoarddSpi:
|
||||
|
||||
total_recv_count = 0
|
||||
total_sent_count = 0
|
||||
sent_msgs = {bus: list() for bus in range(3)}
|
||||
sent_msgs = {bus: [] for bus in range(3)}
|
||||
|
||||
st = time.monotonic()
|
||||
ts = {s: list() for s in socks.keys()}
|
||||
ts = {s: [] for s in socks.keys()}
|
||||
for _ in range(int(os.getenv("TEST_TIME", "20"))):
|
||||
# send some CAN messages
|
||||
if not JUNGLE_SPAM:
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user