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478 Commits

Author SHA1 Message Date
Dean Lee
48b6dfa15d controlsd: check self.enabled out of the any() (#23507) 2022-01-13 11:53:04 +01:00
Dean Lee
dbae5e7601 lateral_planner: use nympy.isnan().any() (#23500) 2022-01-12 15:56:41 +01:00
Dean Lee
a186bcc9f1 cleanup iterate keys in dictionaries (#23497) 2022-01-12 12:42:50 +01:00
Dean Lee
678732d0ce AlertManager: cleanup add_many (#23438) 2022-01-11 14:16:52 -08:00
Dean Lee
35ec6ac1cb use ndarray.tolist to convert numpy array to float (#23485) 2022-01-11 14:34:47 +01:00
Shane Smiskol
233a6e4a62 LanePlanner: offsets cleanup (#23459) 
* update comments

* model y axis was flipped so flip the offsets as well

* fix
 2022-01-10 13:08:45 -08:00
Robbe Derks
1a54d7f6ae Ignore statsd for running process check (#23483) 2022-01-10 19:54:41 +01:00
Dean Lee
4208fe018e LongControl: remove redundant check on active (#23481) 2022-01-10 18:46:02 +01:00
Dean Lee
a653461dec check in tuple instead of list (#23477) 
* check in tuple instead of list

* Update selfdrive/car/toyota/carcontroller.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* Update selfdrive/car/mazda/interface.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2022-01-10 16:36:51 +01:00
Dean Lee
8eec818ae6 events: cleanup function any (#23479) 2022-01-10 14:32:07 +01:00
Dean Lee
67af095692 controlsd: check all_valid only if not initialized (#23437) 
* check all valid in if statement

* apply review
 2022-01-10 12:13:58 +01:00
Dean Lee
2d08f8b318 controlsd: save lat_plan.dPathPoints to local variable (#23462) 2022-01-10 11:27:31 +01:00
Dean Lee
b2beb5e6ba controls: check contents in tuple instead of list (#23463) 2022-01-10 11:26:58 +01:00
Dean Lee
09a835916b optimize alertmanager (#23433) 2022-01-06 22:15:32 -08:00
Dean Lee
e0338fd77b controlsd/state_transition: remove redundant check in elif (#23428) 2022-01-06 15:54:19 +01:00
Dean Lee
a2e762e0b9 longcontrol: check if speeds is empty (#23410) 
* check if speeds is empty

* move into existing check

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2022-01-05 14:23:08 +01:00
Shane Smiskol
cf9792dc53 Longcontrol: remove starting state (#23328) 
* remove starting state

* new ref

* ready for merge

* try this

* cereal now on master

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2022-01-04 15:40:39 -08:00
Dean Lee
0357cf2af0 controlsd: remove duplicate event relayMalfunction (#23392) 2022-01-04 14:07:36 -08:00
HaraldSchafer
d3f064f5ca Controlsd: fix bug in curv rate limit (#23250) 
* Controlsd: fix bug in curv rate limit

* update ref
 2022-01-04 13:21:56 -08:00
Shane Smiskol
9cb0ebe37d LongitudinalMpc: Remove class accel_limit_arr (#23295) 
* remove class accel_limit_arr

remove class accel_limit_arr

* make it static

* only set static parameters once

* just use existing function

style

* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

* Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2022-01-04 16:00:29 +01:00
Shane Smiskol
9f88ba188a Longitudinal planner: make v_desired a FirstOrderFilter (#23341) 
* make v_desired a FirstOrderFilter

* forgot one

* one more ref

* Add a new object for the filter

* fix

* fix tests

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2022-01-04 12:17:33 +01:00
Dean Lee
960e0cf6a7 controlsd/publish_logs: follow capnp best practices (#23372) 
* follow follow capnp best practices

* cleanup
 2022-01-04 12:04:03 +01:00
Dean Lee
5dc631fa1b longcontrol/update: optimize capnp (#23382) 2022-01-04 11:32:54 +01:00
Dean Lee
7b612d47b6 radard/update: optimize capnp (#23380) 2022-01-03 17:26:32 -08:00
Dean Lee
f2520b6e80 lane_planner.py/parse_model: follow capnp best practices (#23368) 2022-01-03 15:08:24 -08:00
Adeeb Shihadeh
1e41f4723b CAN receive error is a comm issue (#23362) 2022-01-03 14:13:45 -08:00
Dean Lee
2ca0925da7 lateral_planner.py/publish: follow capnp best practices (#23359) 2022-01-02 11:55:24 -08:00
George Hotz
dc96d4bee7 Add More Types for mypy (#23268) 
* mypy passes

* a few more

* a few in manager

* more types, will lint

* more

* simple types

* events type

* Update selfdrive/thermald/thermald.py

* Apply suggestions from code review

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-12-28 18:07:00 +01:00
Shane Smiskol
5387806400 LongitudinalMpc: minor clean up (#23296) 
* correct order

* formatting

* Revert "formatting"

This reverts commit 481c390f400179f5d0d8f9b5a3066cb68e484d0c.

* use np.zeros

* typos and formatting

* typo

* typo
 2021-12-28 12:05:52 +01:00
Ewout ter Hoeven
332f568a82 Pyupgrade 3.6: Update syntax with Python 3.6+ features (#23305) 
Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default

Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>

Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>
 2021-12-24 11:18:39 -08:00
Adeeb Shihadeh
256c51e16a bump cereal 2021-12-20 23:04:27 -08:00
Adeeb Shihadeh
c92199ab1a Revert "Mazda: alert when LKAS is disabled (#23273)" 
This reverts commit f25121b736.
 2021-12-20 23:02:02 -08:00
Jafar Al-Gharaibeh
f25121b736 Mazda: alert when LKAS is disabled (#23273) 
* Mazda: alert when LKAS is disabled

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>

* Update selfdrive/controls/lib/events.py

* Update selfdrive/car/mazda/interface.py

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-12-20 14:58:46 -08:00
George Hotz
16dd7ce1fe build for mac (#23048) 2021-12-18 22:00:09 -08:00
HaraldSchafer
cf466222f6 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
 2021-12-16 17:34:12 -08:00
Ewout ter Hoeven
55390d273f Convert format strings strings to f-strings (#23241) 
* Convert all text strings to f-strings

Reformats all the text from the old "%-formatted" and .format(...) format to the newer f-string format, as defined in PEP 498. This requires Python 3.6+.

Flynt 0.69 was used to reformat the strings. 120 f-strings were created in 51 files.

F-strings are in general more readable, concise and performant. See also: https://www.python.org/dev/peps/pep-0498/#rationale

* revert pyextra changes

* revert ublox.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-12-16 14:58:17 +01:00
Willem Melching
4f1eb4278a Log actuators after applying rate limits in CarController (#23230) 
* return actuators from carcontroller

* log it

* pass to latcontrol

* chrysler

* gm

* honda

* more brands

* rest of the brands

* gm cleanup

* hyundai cleanup

* update ref

* rename field

* fix subaru

* add types

* more subaru fixes #23240

* consistent whitespace

* bump cereal
 2021-12-16 13:08:20 +01:00
Shane Smiskol
2799ef5292 Remove minSpeedCan (#22991) 
* Remove minCanSpeed

Remove minCanSpeed

* it actually only goes out to 2.5 seconds, this is okay to remove

* test to see if this preserves behavior

add minSpeedCan

* Revert "test to see if this preserves behavior"

This reverts commit 31b11f017f7e9da7654fc8064b5983d4a6cc22e5.

* preserve behavior (don't enter stopping as early)

* vEgoStopping needs to be less than or equal to vEgoStarting to avoid state oscillation
 2021-12-14 12:09:32 -08:00
Adeeb Shihadeh
7f618b16bf increase cruise mismatch threshold 2021-12-12 13:35:12 -08:00
Adeeb Shihadeh
8068df0b2a alerts: escalate soft disable alert near disengagement (#23198) 
* alerts: escalate soft disable alert if resulted in disengagement

* show 0.5s before disengagement
 2021-12-11 17:07:37 -08:00
Adeeb Shihadeh
07b971d473 alerts: handle min duration properly (#23191) 
* alerts: handle min duration properly

* add active

* tests

* cleanup test

* update refs
 2021-12-10 19:20:07 -08:00
Adeeb Shihadeh
4627d201b6 alert text simplification (#23186) 
* alert text simplification

* little more

* user triggered

* little more

* less annoying ldw

* Update selfdrive/controls/lib/events.py

* update refs

* revert
 2021-12-10 15:21:37 -08:00
Adeeb Shihadeh
45f3662cf0 alerts: add test for creation delay 2021-12-09 14:29:50 -08:00
Harald Schafer
44adea73ce fix max speed comments 2021-12-08 17:13:43 -08:00
HaraldSchafer
c41a0cae4b XVA long policy: prev_a becomes numpy anyway (#23175) 2021-12-08 16:06:09 -08:00
Harald Schafer
7e20fe7ca2 Long mpc: fix xva policy for sim 2021-12-08 15:42:30 -08:00
HaraldSchafer
d1b003c5d2 Cruise speed: up to 90mph max (#23161) 
* Cruise speed: up to 90mph max

* update ref
 2021-12-07 15:47:57 -08:00
HaraldSchafer
77a99e7d6d long planner: no reset when starting (#23149) 
* long planner: no reset when starting

* let go to 2m/s

* update ref
 2021-12-06 23:10:16 -08:00
Harald Schafer
9afc95474d add a change cost 2021-12-06 16:17:11 -08:00
HaraldSchafer
0dcdf9c30f Long policy: strictly squared stopped equivalence function (#23118) 
* new ref

* never let lead stopped equivalence go down

* no overbraking

* stricter again

* cleanup

* updated refs
 2021-12-03 16:12:30 -08:00