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Commit Graph

188 Commits

Author SHA1 Message Date
Adeeb Shihadeh
59894a6666 clear no entry alerts if engaged (#23559) 
* clear no entry alerts if engaged

* fix test
 2022-01-17 13:57:53 -08:00
Dean Lee
5cd103c3d4 controlsd: remove extra space (#23553) 2022-01-17 13:51:44 +01:00
Adeeb Shihadeh
c6b892fe58 shutdownd is non essential 2022-01-14 11:59:04 -08:00
Dean Lee
fd042a5924 controlsd: cleanup parsing android log (#23421) 
* cleanup parse android log

* global CSID_MAP

* use generator express

* cleanup

* no walrus

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2022-01-13 19:43:22 -08:00
Dean Lee
48b6dfa15d controlsd: check self.enabled out of the any() (#23507) 2022-01-13 11:53:04 +01:00
Dean Lee
a186bcc9f1 cleanup iterate keys in dictionaries (#23497) 2022-01-12 12:42:50 +01:00
Robbe Derks
1a54d7f6ae Ignore statsd for running process check (#23483) 2022-01-10 19:54:41 +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
0357cf2af0 controlsd: remove duplicate event relayMalfunction (#23392) 2022-01-04 14:07:36 -08:00
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
Adeeb Shihadeh
1e41f4723b CAN receive error is a comm issue (#23362) 2022-01-03 14:13:45 -08:00
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
HaraldSchafer
cf466222f6 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
 2021-12-16 17:34:12 -08:00
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
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
HaraldSchafer
8f3bc4872f Less sensitive torque saturated warning (#23003) 
* Less sensetive torque saturated warning

* better comment
 2021-12-01 13:53:42 -08:00
Adeeb Shihadeh
2a72e2a514 add offroad alerts for car unrecognized (#22934) 
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Chris McCammon <chrismccammon123@gmail.com>
 2021-11-17 20:29:00 -08:00
Adeeb Shihadeh
d8a5c415cd Revert "add offroad alerts for car unrecognized" 
This reverts commit fb1e8ce086.
 2021-11-16 13:31:10 -08:00
Adeeb Shihadeh
fb1e8ce086 add offroad alerts for car unrecognized 2021-11-16 13:30:33 -08:00
Adeeb Shihadeh
833399e941 alerts: make soft disables an orange alert (#22925) 2021-11-16 13:11:32 -08:00
Adeeb Shihadeh
db92006dc0 CI: skip cruise mismatch check for can replays 2021-11-12 18:22:39 -08:00
HaraldSchafer
a04114f68c Give car interface roll and pitch (#22891) 
* Give car interface roll and pitch

* fixup

* whitespace
 2021-11-12 12:21:22 -08:00
Adeeb Shihadeh
035bc0c20f controlsd: alert on cruise mismatch for >1s (#22841) 
* controlsd: alert on cruise mismatch for >1s

* bump cereal

* update refs

* bump allowed soundd cpu

* bump cereal
 2021-11-10 13:01:42 -08:00
Adeeb Shihadeh
385f3c5387 controls: don't wind up while EPS is faulted or below min steer speed (#22739) 
* controlsd: don't wind up while EPS is faulted

* also check if above min steer speed

* car params
 2021-10-29 14:13:41 -07:00
Robbe Derks
585c16cd2a Multipanda support (#22402) 
* squash all PR commits for easy rebase

* merged all panda rx can into one message

* fix buffers in can_send

* more cleanup and minor fixes

* fix even more stuff

* fix non-allocated send buffer

* make connecting more robust

* fix bus offset

* fix controls_mismatch?

* simplify mismatch check

* C++ style struct

* fix connect loop

* update ref

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-10-29 13:04:26 +02:00
Adeeb Shihadeh
f2b48a1803 always show lane lines on HUD (#22693) 
* always show lane lines on HUD

* update refs
 2021-10-25 23:47:12 -07:00
Adeeb Shihadeh
7394956a90 temporarily disable per-core cpu usage check 2021-10-25 15:03:28 -07:00
Mitchell Goff
38f775edfc Only trigger model FCW on stock long when not already braking (#22620) 
* Only trigger model FCW on stock long when not already braking

* Split model_fcw checks for better readability
 2021-10-20 16:16:40 +02:00
Adeeb Shihadeh
74a3c92704 only check low battery on EON 2021-10-15 15:04:19 -07:00
Robbe Derks
91987f38d4 Make pandaState and safetyMode a list (#22454) 
* wip: move to pandaStates

* bump cereal

* wip: SafetyMode struct

* move to safetyMode

* fix typo

* this can be None

* fix potential empty pandaStates list

* fix thermald

* fix controlsd

* rename safetyModes to safetyConfigs

* update process_replay

* fix test_models

* bump cereal
 2021-10-08 17:54:34 +02:00
Willem Melching
e636f03c7a Set CarControl.active (#22442) 
* Set CarControl.active

* update ref
 2021-10-05 14:32:39 -07:00
speedking456
23b9316603 accel/decel button metric increments (#22399) 
* add metric values

Freedom units have weird multiples compared to metric. Modified so that it increments by 10 km/h on long press and 1 km/h on short press, rather than 8 and 1.6 km/h. This mimics stock hyundai behaviour on metric vehicles.

* use is_metric from controlsd

* use actual mph value instead of rounded

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-10-04 21:11:17 +02:00
Willem Melching
f4e2537b12 Split pandaState into peripheralState and pandaState (#22385) 
* publish peripheralState from boardd

* refactor consumers

* rename thread

* peripheralState has panda type too

* add to process replay

* fix device build

* properly remove hardware unsupported alert

* latest peripheralState

* remove pandaState from thermal_monitor

* put that back

* add back harness check

* fix cloudlog

* needs pandaState

* Update selfdrive/thermald/tests/test_power_monitoring.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* dont conflate

* Update selfdrive/thermald/tests/test_power_monitoring.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* pigeon is peripheral

* cleanup

* less global

* comment

* move rtc to peripheral_control_thread

* better diff?

* whitespace

* get msg

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-10-04 11:30:11 +02:00
qadmus
3461e25944 Lateral PID: move steer feedforward to CarInterface (#22411) 
* move steer feedforward to car interface, in car parameters

* LatControlPID.get_steer_feedforward()
 2021-10-04 10:03:53 +02:00
Greg Hogan
92895f1e68 accel/decel button short/long press 1mph/5mph (#22013) 2021-10-01 11:09:56 +02:00
HaraldSchafer
a8b4249ebc Change radar-based FCW to model-based FCW (#22379) 
* just use MPC for fcw checking

* thats already bad

* model FCW is always good

* better fcw

* should be good for now

* comment

* linting

* cleaner

* unused
 2021-09-29 11:55:54 -07:00
Adeeb Shihadeh
3b8fa4b7fd controls: only send cruise cancel while cruise is enabled (#22359) 
* controls: only send cruise cancel while cruise is enabled

* cleanup

* might actually do something

* update refs

* update refs again

* update refs
 2021-09-28 12:30:50 -07:00
Willem Melching
88d248a5af Remove fuzzy fingerprint startup alert (#22328) 
* deprecate fuzzy fingerprint startup alert

* bump cereal
 2021-09-23 17:15:33 -07:00
Willem Melching
c4bac6bd68 Hyundai longitudinal prerequisites (#22121) 
* panda

* bring over changes

* dont check car model

* remove comment

* fix typo

* more stuff gated behind long

* not

* not used

* gate that too

* try honda tuning

* clip accel values

* fix up merge

* fix stopping

* add retry logic around knockout

* increase timeout

* keep flipping lead bit

* true for now

* less tuning

* update comment

* 0.1 s is fine now

* merge honda and hyundai knockout

* more lead fields

* another obj bit

* increase timeout

* fix stopping flag

* only lag compensate for braking

* no lead

* less tuning

* only do knockout if not readonly

* try controlling using jerk

* tuning

* try higher stopping rate

* set stopping flag at higher speed

* clip upper jerk when stopping

* remove comments

* tester present 1hz

* use positive start accel

* 1.0 to maybe improve low speed stuff

* no point going over 0

* bump panda

* bump panda

* revert that change

* update ref
 2021-09-13 22:03:08 -07:00
Willem Melching
b7d1aac197 Parameterize longitudinal control using carParams (#22200) 
* use CP.startAccel

* missing values

* order

* update ref

* cereal
 2021-09-11 18:01:54 -07:00
HaraldSchafer
74b6c87254 cleanup old nidec accel override logic (#22181) 
* cleanup old nidec accel override logic

* add ref without deprecated fields

* no more override
 2021-09-10 10:34:18 -07:00
Willem Melching
4f84e1b2ad actually set longControlState in actuators packet (#22155) 
* actually set longControlState in actuators packet

* update ref
 2021-09-06 20:14:01 -07:00
Willem Melching
21ae64868e put LongControlState in CarControl.Actuators (#22154) 2021-09-06 18:45:59 -07:00
Willem Melching
f941111dcd Clean up PID controller ACCEL_MIN/ACCEL_MAX (#22148) 
* use ISO 15622:2018 limits in PID controller

* allow more for nidec

* limit PID inputs

* CP is not needed

* add GM

* not used

* update ref

* fix honda bosch
 2021-09-06 17:29:32 -07:00