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openpilot v0.4.3 release

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This commit is contained in:
Vehicle Researcher
2018-03-18 10:36:29 -07:00
parent 17c209da85
commit 5ddfd922fe
4 changed files with 55 additions and 54 deletions
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13
selfdrive/controls/controlsd.py
View File

@@ -211,7 +211,8 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
awareness_status, PL, LaC, LoC, VM, angle_offset, rear_view_allowed, rear_view_toggle):
awareness_status, PL, LaC, LoC, VM, angle_offset, rear_view_allowed,
rear_view_toggle, passive):
# Given the state, this function returns the actuators
# reset actuators to zero
@@ -228,7 +229,7 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
else:
rear_view_toggle = False
if b.type == "altButton1" and b.pressed:
if (b.type == "altButton1" and b.pressed) and not passive:
rear_view_toggle = not rear_view_toggle
@@ -454,14 +455,14 @@ def controlsd_thread(gctx, rate=100):
CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)
if CI is None:
raise Exception("unsupported car")
# if stock camera is connected, then force passive behavior
if not CP.enableCamera:
passive = True
sendcan = None
if CI is None:
raise Exception("unsupported car")
if passive:
CP.safetyModel = car.CarParams.SafetyModels.noOutput
@@ -528,7 +529,7 @@ def controlsd_thread(gctx, rate=100):
# compute actuators
actuators, v_cruise_kph, awareness_status, angle_offset, rear_view_toggle = state_control(plan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, awareness_status, PL, LaC, LoC, VM,
angle_offset, rear_view_allowed, rear_view_toggle)
angle_offset, rear_view_allowed, rear_view_toggle, passive)
prof.checkpoint("State Control")
# publish data

2
selfdrive/controls/lib/alertmanager.py
View File

@@ -121,7 +121,7 @@ class AlertManager(object):
"manualRestart": Alert(
"TAKE CONTROL",
"Resume driving manually",
AlertStatus.userPrompt, AlertSize.full,
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, None, None, 0., 0., .2),
# Non-entry only alerts

0
selfdrive/loggerd/uploader.py Executable file → Normal file
View File

94
selfdrive/ui/ui.c
View File

@@ -309,7 +309,7 @@ static const mat4 device_transform = {{
// frame from 4/3 to box size with a 2x zoon
static const mat4 frame_transform = {{
2*(4./3.)/((float)(box_w+sbr_w-(bdr_s*2))/viz_h), 0.0, 0.0, 0.0,
2*(4./3.)/((float)box_w/viz_h), 0.0, 0.0, 0.0,
0.0, 2.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
@@ -1310,10 +1310,10 @@ static void ui_draw_vision(UIState *s) {
glClearColor(0.0, 0.0, 0.0, 0.0);
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
// scissor for EON UI
glEnable(GL_SCISSOR_TEST);
const int viewport_rw = (box_w+sbr_w-(bdr_s*2));
glViewport(ui_viz_rx + scene->ui_frame_offset, s->fb_h-(viz_y+viz_h), viewport_rw - scene->ui_frame_offset, viz_h);
glScissor(ui_viz_rx, s->fb_h-(viz_y+viz_h), ui_viz_rw, viz_h);
glViewport(ui_viz_rx, s->fb_h-(viz_y+viz_h), ui_viz_rw, viz_h);
draw_frame(s);
glViewport(0, 0, s->fb_w, s->fb_h);
glDisable(GL_SCISSOR_TEST);
@@ -1326,10 +1326,10 @@ static void ui_draw_vision(UIState *s) {
nvgSave(s->vg);
// hack for eon
const int inner_height = viewport_rw*9/16;
const int inner_height = ui_viz_rw*9/16;
nvgScissor(s->vg, ui_viz_rx, viz_y, ui_viz_rw, viz_h);
nvgTranslate(s->vg, ui_viz_rx + scene->ui_world_offset, viz_y + (viz_h-inner_height)/2.0);
nvgScale(s->vg, (float)viewport_rw / s->fb_w, (float)inner_height / s->fb_h);
nvgTranslate(s->vg, ui_viz_rx, viz_y + (viz_h-inner_height)/2.0);
nvgScale(s->vg, (float)ui_viz_rw / s->fb_w, (float)inner_height / s->fb_h);
if (!scene->frontview) {
ui_draw_world(s);
@@ -1342,14 +1342,11 @@ static void ui_draw_vision(UIState *s) {
nvgRestore(s->vg);
// draw vision elements
ui_draw_vision_header(s);
ui_draw_vision_alert(s);
// Draw calibration progress (if needed)
if (scene->cal_status == CALIBRATION_UNCALIBRATED) {
ui_draw_calibration_status(s);
}
ui_draw_vision_alert(s);
nvgEndFrame(s->vg);
glDisable(GL_BLEND);
@@ -1828,6 +1825,43 @@ static void ui_update(UIState *s) {
}
static int vision_subscribe(int fd, VisionPacket *rp, int type) {
int err;
LOGW("vision_subscribe type:%d", type);
VisionPacket p1 = {
.type = VIPC_STREAM_SUBSCRIBE,
.d = { .stream_sub = { .type = type, .tbuffer = true, }, },
};
err = vipc_send(fd, &p1);
if (err < 0) {
close(fd);
return 0;
}
do {
err = vipc_recv(fd, rp);
if (err <= 0) {
close(fd);
return 0;
}
// release what we aren't ready for yet
if (rp->type == VIPC_STREAM_ACQUIRE) {
VisionPacket rep = {
.type = VIPC_STREAM_RELEASE,
.d = { .stream_rel = {
.type = rp->d.stream_acq.type,
.idx = rp->d.stream_acq.idx,
}},
};
vipc_send(fd, &rep);
}
} while (rp->type != VIPC_STREAM_BUFS || rp->d.stream_bufs.type != type);
return 1;
}
static void* vision_connect_thread(void *args) {
int err;
@@ -1842,43 +1876,9 @@ static void* vision_connect_thread(void *args) {
int fd = vipc_connect();
if (fd < 0) continue;
VisionPacket p1 = {
.type = VIPC_STREAM_SUBSCRIBE,
.d = { .stream_sub = { .type = VISION_STREAM_UI_BACK, .tbuffer = true, }, },
};
err = vipc_send(fd, &p1);
if (err < 0) {
close(fd);
continue;
}
VisionPacket p2 = {
.type = VIPC_STREAM_SUBSCRIBE,
.d = { .stream_sub = { .type = VISION_STREAM_UI_FRONT, .tbuffer = true, }, },
};
err = vipc_send(fd, &p2);
if (err < 0) {
close(fd);
continue;
}
// printf("init recv\n");
VisionPacket back_rp;
err = vipc_recv(fd, &back_rp);
if (err <= 0) {
close(fd);
continue;
}
assert(back_rp.type == VIPC_STREAM_BUFS);
VisionPacket front_rp;
err = vipc_recv(fd, &front_rp);
if (err <= 0) {
close(fd);
continue;
}
assert(front_rp.type == VIPC_STREAM_BUFS);
VisionPacket back_rp, front_rp;
if (!vision_subscribe(fd, &back_rp, VISION_STREAM_UI_BACK)) continue;
if (!vision_subscribe(fd, &front_rp, VISION_STREAM_UI_FRONT)) continue;
pthread_mutex_lock(&s->lock);
assert(!s->vision_connected);