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a16a4a4e06dee8a3e8fefc1cadf7e82ae154e310
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296 Commits

Author SHA1 Message Date
Adeeb Shihadeh
3c48bc47b7 Move a bunch of stuff to system/ part 3 (#24829) 
* move swaglog.py

* timezoned

* logmessaged

* version.py

* fix linter
old-commit-hash: 0fce5d9045
 2022-06-11 23:19:27 -07:00
Adeeb Shihadeh
9a45a3b99b Move selfdrive/hardware/ to system/ (#24725) 
* move hardware to system/

* fix mypy
old-commit-hash: 1139fe507b
 2022-06-11 16:38:24 -07:00
Willem Melching
753045c73d less TICI when not needed (#24698) 
* less TICI when not needed

* fix process replay

* move reading voltages into hw abstraction layer

* Update selfdrive/hardware/tici/hardware.h

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

* Update selfdrive/hardware/hw.h

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

* Update selfdrive/hardware/base.h

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

* rename init function

* Update selfdrive/athena/athenad.py

Co-authored-by: Robbe Derks <robbe.derks@gmail.com>

* Update selfdrive/boardd/boardd.cc

* Apply suggestions from code review

* Update selfdrive/thermald/thermald.py

* update ref

* fix alert width if all cameras are bad

* add ecam to test_loggerd

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
old-commit-hash: f49a9c9fd2
 2022-06-02 15:20:51 +02:00
HaraldSchafer
39886246c9 Rerevert torque control (#24649) 
* Revert "Revert torque control (#24565)"

This reverts commit 93f434d047a92366c4ccefeece86fe101ed98d02.

* Move tune out of car specific stuff

* Update ref commit
old-commit-hash: d928972150
 2022-05-24 17:52:33 -07:00
Adeeb Shihadeh
29e2b3f757 controlsd: ensure all system malfunction events have the right types (#24635) 
old-commit-hash: 71901c94db
 2022-05-23 17:46:46 -07:00
Shane Smiskol
56a44d41f8 controls: pressing set while gas pressed resets to vEgo (#24100) 
* set while gas pressed to resume

* better order

* what was I thinking?

* Update selfdrive/controls/lib/drive_helpers.py

Co-authored-by: Gijs Koning <gijs-koning@live.nl>

* Update selfdrive/controls/lib/drive_helpers.py

Co-authored-by: Gijs Koning <gijs-koning@live.nl>

* only if under set speed

* some clean up and ciel the v_cruise_kph

* clean up

* actually floor

* Should be cruise min

* On phone, will clean up

* Think no floor is fine

* clean up and catch setCruise

* update comment and just always do rounding and clipping

update comment

* flip order

Co-authored-by: Gijs Koning <gijs-koning@live.nl>
old-commit-hash: d3d210c183
 2022-05-19 03:28:50 -07:00
HaraldSchafer
efa559f9be Revert torque control (#24565) 
* torque reversal start

* Fix carmodel tests

* Update ref

* update ref

* Elif is better than if
old-commit-hash: 9f8b03753d
 2022-05-17 19:00:57 -07:00
Adeeb Shihadeh
cfc16a88c5 improved alert verbosity (#24434) 
* improved alert verbosity

* better testing script

* better description

* speed diff

* touch ups

* fix that
old-commit-hash: b1858df00e
 2022-05-16 21:19:38 -07:00
Shane Smiskol
f1f447d092 Add desired curvature to controlsState (#24510) 
* Add desired_curvature to controlsState

* clean up

* bump

* bump

* update refs from GitHub!

Co-authored-by: Jason Shuler <jshuler@gmail.com>
old-commit-hash: 6518ecca8f
 2022-05-12 16:59:52 -07:00
grekiki
7cd23af9b1 Mypy fixes for --check-untyped-defs (#24372) 
more type fixes
old-commit-hash: 17e33978cd
 2022-05-12 14:08:11 +02:00
Adeeb Shihadeh
a6f314bc56 increase cruiseMismatch threshold (#24428) 
old-commit-hash: 1bc6f2fa7d
 2022-05-04 15:58:08 -07:00
Adeeb Shihadeh
247c153a35 controlsd: better alert precedence for system malfunctions (#24366) 
* controlsd: better alert precedence for system malfunctions

* down to 20

* move that

* check can flags

* update refs

* update refs
old-commit-hash: be748c0d6a
 2022-04-29 13:36:25 -07:00
Adeeb Shihadeh
fdf13d565b controlsd: add lagging alert (#24360) 
* controlsd: add lagging alert

* move those

* just this for now

* no camera malfunction
old-commit-hash: 3abbe827de
 2022-04-28 19:51:42 -07:00
Shane Smiskol
12d0a18a05 Clean up controllers (#24340) 
* clean up lat controllers

* pass CP once

* sort
old-commit-hash: c9be2f02c3
 2022-04-28 00:42:52 -07:00
Shane Smiskol
82e5b382f1 longActive: consider longitudinal control (#24295) 
* consider longitudinal control

* update refs
old-commit-hash: f4d1703b42
 2022-04-22 20:32:36 -07:00
HaraldSchafer
2174005f05 Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260) 
* Initial commit

* Fix bugs

* Need more torque rate

* Cleanup cray cray control

* Write nicely

* Chiiil

* Not relevant for cray cray control

* Do some logging

* Seems like it has more torque than I thought

* Bit more feedforward

* Tune change

* Retune

* Retune

* Little more chill

* Add coroll

* Add corolla

* Give craycray a good name

* Update to proper logging

* D to the PI

* Should be in radians

* Add d

* Start oscillations

* Add D term

* Only change torque rate limits for new tune

* Add d logging

* Should be enough

* Wrong sign in D

* Downtune a little

* Needed to prevent faults

* Add lqr rav4 to tune

* Try derivative again

* Data based retune

* Data based retune

* add friction compensation

* Doesnt need too much P with friction comp

* remove lqr

* Remove kd

* Fix tests

* fix tests

* Too much error

* Get roll induced error under 1cm/deg

* Too much jitter

* Do roll comp

* Add ki

* Final update

* Update refs

* Cleanup latcontrol_torque a little more
old-commit-hash: fe0bcdaef6
 2022-04-19 19:34:31 -07:00
Adeeb Shihadeh
5a9644261f remove comma two support (#24248) 
* remove comma two support

* cleanup release files

* little more

* more libs

* no more gralloc

* add snpe back
old-commit-hash: 5c48e7bc86
 2022-04-18 17:55:23 -07:00
Adeeb Shihadeh
636c902c65 controlsd: check if process should be running (#24250) 
old-commit-hash: 067273b8e7
 2022-04-18 14:57:04 -07:00
George Hotz
ebeadd9b41 fix csid map 
old-commit-hash: b9e5ad8a64
 2022-04-14 13:17:32 -07:00
Adeeb Shihadeh
3789587df1 add alert for CAN bus timeout (#24162) 
* add alert for CAN bus timeout

* add alert

* set in interface

* cleanup

* cleanup

* add event

* fix mock

* bump

* bump opendbc

* update refs

* return reader
old-commit-hash: 49c2164814
 2022-04-12 22:58:34 -07:00
Adeeb Shihadeh
5ff61e95ad controlsd: fix soft disable while overriding (#24178) 
old-commit-hash: 37fc027e98
 2022-04-11 10:50:00 -07:00
Willem Melching
a47666d1fd add cameraFrameRate alert (#24152) 
* add cameraFrameRate alert

* bump cereal
old-commit-hash: 1848050fd9
 2022-04-06 17:11:39 -07:00
Willem Melching
871ecc451b commIssueAvgFreq: separate alert for avg freq check (#24150) 
* commIssueAvgFreq: separate alert for avg freq check

* bump cereal

* bump cereal

* bump cereal

* freq_ok separate from alive

* bump cereal to master

* update_ref

* fix profiler
old-commit-hash: eaa5819211
 2022-04-06 16:43:32 -07:00
George Hotz
758d423b86 body: control with joystick (#24143) 
* control with joystick

* slow it down

* always joystick for not car

* clean ups

* not stateful

* move submaster

* only if we aren't in test mode

* update refs

* double ki speed, update ref

* this ref

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7dd71cc63d
 2022-04-06 11:31:31 -07:00
Lukas Petersson
df8476118b Latency logging 2 (#24058) 
* msg_order and gantt

* frameId in long/lat planner

* track frame id

* controls frame id

* graph tracked events

* graph json

* cloudlog timestamp

* c++ cloudlog

* add frame id

* bug fixes

* bug fixes

* frame id visionicp

* bug fixes and debug level

* timestamp log placement

* print timestamps in table

* translate events

* more logging

* bug fixes

* daemon boardd

* print logs with boardd

* more timestamp logs

* cleanup

* remove publish logs

* bug fix

* timestamp received

* timestamp received

* bug fixes

* use json lib

* ignore driver camera

* prep for new timestamp pipeline

* bug fix

* read new pipeline unfinnished

* read new pipeline

* bug fix

* add frame to controlsstate

* remove controlsstate

* print

* cleanup

* more cleanup + bug fix

* clock build issue

* remove unused imports

* format durations

* increase speed

* pr comments fixes

* conflicts

* set MANAGER_DAEMON for boardd

* clean script code

* bug fix + argparse

* remove rcv time

* bug fixes

* print without tabulate

* fix pre-commits

* plot gnatt

* color bug fix

* read without timestampextra

* bump panda

* mono time instead of frame id

* finnish script

* clean unused

* clean unused logging

* monotonic + json fixes

* del test

* remove whilelines

* bump laika

* cleanup

* remove deps

* logs nicer strings

* remove plotting from scirpt

* reset pipfile

* reset pipfile

* nicer strings

* bug fix

* bug fix

* pr comments cleaning

* remove plotting

* bug fix

* new demo route

* bump opendbc and panda

* cereal master

* cereal master

* script less komplex

* assertions

* matplotlib

* readme

* Update README.md

* graph html

* design fixes

* more code design

* Update common/logging_extra.py

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

* whitespace

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

* Update tools/latency_logger/latency_logger.py

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

* pr comments

* bug fix

* readme + env once

* clean swaglog

* bug fix

* Update tools/latencylogger/README.md

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

* revert

* revert

* clean swaglog with error

* remove typo file

* revert graph

* cereal

* submodules

* whitespaces

* update refs

Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 65fca83abe
 2022-04-05 21:05:45 -07:00
Shane Smiskol
bf744c0410 tests: add overriding to state machine test (#24131) 
* add overriding to state machine test

* overriding should consider soft disable too
old-commit-hash: d7a708d6da
 2022-04-05 11:36:18 -07:00
Shane Smiskol
c97473248a controls: add overriding to active states (#24129) 
old-commit-hash: f0ac80806e
 2022-04-05 01:29:23 -07:00
Shane Smiskol
474ba19c81 Add Disengage on Accelerator Toggle (#23977) 
* Squashed commit of the following:

commit 953bcf0ecf8d03f0fec9ce0d5442cc660ae2347d
Merge: b4198608d efd04715e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 19:58:06 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit b4198608dac9595bfeb9443f95cd6c5d385cd62d
Merge: 24f90b2c8 0e983562d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 14:32:54 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 24f90b2c8d6ae509c0776b6e33b743467aa08dee
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 14:07:52 2022 -0700

    revert changes and get ready for override

commit aa514df6b5e8431f0faa07f6b25eb5cb6c9f2749
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 30 20:52:24 2022 -0700

    temporary

commit c874e10c2555968c683f629c4582ab22e51d431f
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 30 00:30:13 2022 -0700

    move gasPressed to controlsd

commit fe670439dff5bc6dfc5963d79ca2febe0c5920c7
Merge: 49d3b6d11 c78701e47
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 30 00:15:48 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 49d3b6d1162893fa94b2294152f0718eeb4698ed
Merge: 475b27e74 3e819bc5a
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 13:06:08 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 475b27e74fd6479f1d148e9ded1eca6ee476865c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 20:24:59 2022 -0700

    update SAFETY.md

commit 0798eadb82749e12ecbaa86f4e57b21bd3dbc7e8
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 17:52:06 2022 -0700

    ⛽ ➡️ 🔋

    bump

commit d2b64b89cf8d7265bc90848b4e3a2276c9a4cb78
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 16:19:34 2022 -0700

    these changes will be in border PR

    these changes will be border PR

commit bed31e63de2244c161729773978fef8a9246ddb5
Merge: 491417640 603e07793
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 16:17:31 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 49141764098e3a701ff123ead52de4656b31db4d
Merge: 9291e9f00 46ed8bb8e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 19:00:26 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 9291e9f0045780669b2ffa7f08fb10373c03b070
Merge: 2aed64157 2c947f193
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Mar 18 19:03:13 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 2aed64157d6e9dc993d103a2c6abf7e643410562
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Mar 18 19:03:03 2022 -0700

    Revert "send pre-enable state when gas is pressed"

    This reverts commit 8d82e697dc2efade307413e767d14b56b4d2d079.

commit a219defe5342efa731a957b2ff4fd86292c1f239
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 17 12:50:46 2022 -0700

    bump cereal

commit 8d82e697dc2efade307413e767d14b56b4d2d079
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 16 22:40:13 2022 -0700

    send pre-enable state when gas is pressed

    formatting and it's out

    forgot one

    allow gas press

    show toggle

    revert changes

    revert changes

commit 5eb4d1ab1b77ac65bdd901f692ebfb848d5187ca
Merge: bad1bdc74 d0ef25959
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 16 22:29:43 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit bad1bdc7428c5d8a4a765b259da504f0ade84424
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 23:03:56 2022 -0700

    clean up a bit

commit 7516ed9b786536a07f00a92b9c1742ca252a01d1
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:55:09 2022 -0700

    these are null checks right now

commit 408f5f1d633521b29b08d966c9b387fa79dff0d6
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:51:14 2022 -0700

    should work

commit be1978e29c03d8843cf073cc9ddf84020fd2b378
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:36:16 2022 -0700

    stash

commit f0bd4c47e9d27061c6cd3b88765a7c10995f42db
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:26:24 2022 -0700

    this was flipped

commit d5b6e30389a727e8559331acd706422e1b246f60
Merge: 820b19894 c814c1383
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 15 22:25:49 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 820b1989496225df1f66f39b477f1e9402db1b19
Merge: 91763f9ff 6d2483ff9
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 14 23:39:34 2022 -0700

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 91763f9ff4321986babce1a7b1272fcf64c8f753
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Feb 24 20:15:26 2022 -0800

    add icon from jozef 🔥

commit 1885c9e2bacd9351c7e421b1436dcbfbde238436
Merge: 1f591736a eae207a84
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Feb 24 20:08:07 2022 -0800

    Merge remote-tracking branch 'upstream/master' into disengage-on-gas

commit 1f591736a2767b1ed892c29ec5000cc7348f01c7
Merge: 465811f0b ebf5b27a7
Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date:   Sat Feb 12 10:24:29 2022 -0500

    Merge branch 'master' into disengage-on-gas

commit 465811f0b4776e43a289398e4d4369362b7da58c
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 11:20:32 2022 -0500

    Add param to process replay

commit 0344363a533505435cff87eb33356b2364a4156f
Merge: 700efcb3f 1175355b7
Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date:   Fri Feb 11 11:07:31 2022 -0500

    Merge branch 'master' into disengage-on-gas

commit 700efcb3f444092f99ef10e9908f83402429d742
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 11:04:39 2022 -0500

    Add param to unsafeMode

commit 220ce272fee1f7f5ace2a04052605a6e4f95712b
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 10:54:16 2022 -0500

    Add param to unsafeMode

commit d273bb78acbc23ee5255e461fa71b2f0400a5e03
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 10:52:22 2022 -0500

    Resolve conflicts

commit 1a85afd60c2f0d3140dfa8e7cd574d6b88abd5e3
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 10:51:50 2022 -0500

    Resolve conflicts

commit e3be32afc2bb2423d29e2b4f85b3cff3fe72aab9
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Feb 11 10:51:08 2022 -0500

    Resolve conflicts

commit f27203af3afe612173bf9a63e15c57118598b5b8
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Wed Jan 19 00:30:09 2022 -0500

    Add param to process replay

commit 04c0ad1a54f4fea5efe74b3203d9bdbd693b64a6
Author: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date:   Wed Jan 19 00:28:49 2022 -0500

    Update interfaces.py

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

commit 99cf13caeb4d9f2c95c25e1e78b6e353ea508cb6
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Sat Jan 15 00:03:38 2022 -0500

    Fix missing params lib

commit 2230254ca709625d591b0c73d1a6022c450f6ef6
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Jan 14 23:38:46 2022 -0500

    Disengage on gas toggle

commit 87475e02cb63cc39c9b16edc67f303e02d17e6ef
Author: Jason Wen <haibin.wen3@gmail.com>
Date:   Fri Jan 14 23:24:00 2022 -0500

    Disengage on gas toggle

* bump

* use ALTERNATIVE_EXPERIENCE

* or it

* de-bump

* update refs

* update refs!

* you can just ctrl+click ALTERNATIVE_EXPERIENCE!

* already have a params

* update text
old-commit-hash: f1f40c117a
 2022-04-04 21:59:52 -07:00
Adeeb Shihadeh
9e0a09868a body: only control while engaged (#24114) 
* body: only control while engaged

* bump panda

* remove that

* bump panda

* update refs

* update refs
old-commit-hash: 00ebd10b87
 2022-04-04 19:37:21 -07:00
Shane Smiskol
20d823d18a controlsState: add override state with grey border (#24030) 
* Squashed commit of the following:

commit f0cf822666fb8f78a486d721fe474e8f37da6970
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Apr 4 17:24:00 2022 -0700

    clean up

commit 4364bdb79b1b055daa7542267eb3f37740723fd4
Merge: d448664cf e85f82af3
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Apr 4 17:21:41 2022 -0700

    Merge remote-tracking branch 'upstream/master' into override-alert-type

commit d448664cfdacbdfd3c99f8e12d96f2ba7b24abb5
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Apr 4 17:20:44 2022 -0700

    revert tests changes

commit 40ab8c2d912ccbeb12286ca272e3737656388ac8
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 19:03:39 2022 -0700

    sort

commit 5abd4448b420e91eda57e3c4edb6794893dab42f
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 19:02:59 2022 -0700

    bump cereal

commit fcffc42082b1460676554924461c63c881c31501
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 19:02:25 2022 -0700

    pass in CI

commit f47dd63bc597e18c05d2d9365eb996c13ec70c17
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 12:06:00 2022 -0700

    update refs

commit f1c54e16ccfa37f770b422ad77e2fc940f8ea7f2
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 11:51:04 2022 -0700

    move to tuple

commit bebafc6ed223a67e59daa7c2105f8cb28c4f9c5f
Merge: b0578dc54 0e983562d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 11:45:19 2022 -0700

    Merge remote-tracking branch 'upstream/master' into override-alert-type

commit b0578dc54f9d943e0ab2182b0b79d076129468a7
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 11:44:37 2022 -0700

    make global variables of states in controlsd

    make global variables of states in controlsd

commit 32b7e293e88f001ef44c9197dfc68b7240ae129e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 23:41:41 2022 -0700

    test individual event types

    fix

commit 1fbf66fc8ba7e5a0a25d34a1f30a2cb3ccb86a02
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 23:03:09 2022 -0700

    clean up

    test state machine

    test state machine

commit 33856bef69b1c2e637e58032b1358f275a6cd6bb
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:59:05 2022 -0700

    clean up

commit d64cd664980edd6cff0038379a5c3965409ebda0
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:40:25 2022 -0700

    test few more things

commit 72a3e57a9a8813b348a8ae9648e283983f7ba56b
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:17:22 2022 -0700

    default transitions

commit ce0051fde8296dab6417d9ef175fdf039d09a8f3
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:05:21 2022 -0700

    remove

commit 56de4f8a87e9b96dd99739772da1dddaa873ceb1
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:05:15 2022 -0700

    this way we can test any combo of event types

commit bdfd47738e5a3c0e22817047cc2d804ca0fe2785
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 21:36:33 2022 -0700

    add some state machine tests

commit 81a72d1773b204cc984fb0631ac30fb00555962d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 17:43:03 2022 -0700

    update refs

commit 00018708714b156c29f963011a6193fa9028b308
Merge: fa97ffa67 fa934d846
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 17:31:51 2022 -0700

    Merge remote-tracking branch 'upstream/master' into override-alert-type

commit fa97ffa67eec1556b2b255ee68bdf46fc101596e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 17:30:23 2022 -0700

    revert todo

commit b0dcd49b0b0254a4754ddc5ea61618246686327d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 30 00:07:11 2022 -0700

    move back

commit ef12853ceed8c8aa37b16af406e510d172269226
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 29 23:09:05 2022 -0700

    bump cereal

commit 2658f557e2fac79563b74385b8676a659f31f7dc
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:54:48 2022 -0700

    fix

commit ed2db85acd34cd78017c6bae0db5df3356c2c19c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:47:18 2022 -0700

    add alert to pass unit tests

commit dc970f55f5f69ecbca7095099bd50ff21ba02610
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:26:18 2022 -0700

    bump

commit e9a3c73d61590120cc5e5c16a3d1a0bbbd51e19d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:25:33 2022 -0700

    normal

commit 4ecfbf18d5e6436f9be6bd3b1c4ea3bca8c1a572
Merge: 47e0ad3cb 02b968ed9
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:14:08 2022 -0700

    Merge remote-tracking branch 'upstream/master' into override-alert-type

commit 47e0ad3cbe4fee81b7a6e4c284973c25b144ddf7
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 10:50:34 2022 -0700

    only rename

commit 8c46435630c1bfba5c5b911bc1d3c8d4b24c9fdd
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 10:49:26 2022 -0700

    bump cereal

commit eb48440843d6a4b09e1f34d8eb2ed4c7f7a8274c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 10:29:49 2022 -0700

    fix

commit 231afe3e6f211e866216a557f2ec2787760d2607
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 23:57:40 2022 -0700

    clean up

commit 7a3f49db1bdb58c8ef59a9376306ef1157ba2e57
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 23:57:10 2022 -0700

    fix logic

commit eab4f8b46e6c22033ac4ae433b6ba94e6a4ff322
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 21:05:05 2022 -0700

    clean up

commit 51e189a27268364e051c6d9231ae6f181ec7f95b
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 20:51:23 2022 -0700

    override state testing

* clean up
old-commit-hash: 2624b4cb27
 2022-04-04 18:02:27 -07:00
Shane Smiskol
8e11fbe2db controlsd: add state machine tests (#24107) 
* Handle NO_ENTRY in PRE_ENABLED

* add test

* add preEnabled NO_ENTRY test

* stash

* test soft disable

* tuples

* remove overriding until it's merged in

* use Events class

* fix tests and split out

* don't rely on controlsd's counter
old-commit-hash: d4f330447a
 2022-04-04 17:13:29 -07:00
Adeeb Shihadeh
c319dfd924 controlsd: no cruise speed while main off (#24052) 
* controlsd: no cruise speed while main off

* probably more accurate

* update refs
old-commit-hash: 49498aa7b5
 2022-03-27 18:06:28 -07:00
Shane Smiskol
4bbc197433 update unsafeMode to alternativeExperience (#23995) 
* update unsafeMode to alternativeExperience

* fix

* fix

* bump submodules

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: e91613bc62
 2022-03-24 14:59:16 -07:00
HaraldSchafer
45b028e39a Add angular rates carcontroller packet (#23980) 
* Controlsd: give carcontroller angular rates

* Update cereal

* Needs to be list

* Update refs
old-commit-hash: dcece099ff
 2022-03-16 21:12:11 -07:00
Shane Smiskol
ca394949cc Move gas/brake pedal event logic to controlsd (#23850) 
* move some state machine logic to controlsd

move some state machine logic to controlsd

* same order

same order

* move unsafeMode up

* disable at standstill

* save last CS

save last CS

* do we need to copy at all?

* don't copy

* rename

* Update selfdrive/controls/controlsd.py

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

* Revert "Update selfdrive/controls/controlsd.py"

This reverts commit 10bb51a0f0ee0d8e2a27c746a0638280a5eaea8a.

* Update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 5fe00fb773
 2022-03-15 20:51:07 -07:00
Adeeb Shihadeh
ec47e0fef0 break up selfdrive.config (#23959) 
* break up selfdrive.config

* add to release files

* fix import order
old-commit-hash: 5c3f3e44bc
 2022-03-13 21:42:39 -07:00
Shane Smiskol
3e61c7e6ae carControl: add long and lat active fields (#23859) 
* proof of concept

* actuators packet describes which actuators are active

* bump cereal

* fixes

* not needed for this PR

* Do Toyota

* add back controlsState.active

* bump cereal

* rest of cars

* in actuators

* add active back

* which

* use controlsState.active for now

* will make an issue

* Update selfdrive/controls/controlsd.py

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

* move local lat_active checks into CC.latActive

* remove redundant checks

* move comment

move comment

* fix joystick mode

* get enabled from carcontrol

* do standstill check in controlsd

* make sure we consider the gas press case for GM

* use CC.actuators

* fix

* capitalization

* Bump cereal

Bump cereal

* make intermediate actuators

* similar convention to before

* clean that up

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 629399a449
 2022-03-13 20:58:44 -07:00
Willem Melching
debaf85830 lower model FCW + stock longitudinal threshold to -1.25m/s^2 (#23915) 
old-commit-hash: 37a8b09cad
 2022-03-07 10:42:07 +01:00
Shane Smiskol
6303d97278 controlsd: fix vCruise jumping on pcmCruise cars (#23388) 
* clean up v_cruise_kph

fix

fix

* Revert "clean up v_cruise_kph"

This reverts commit 211b5c3dbe073414ef5c39b19d6d2c6e8de2cf0b.

* always update vCruise and don't init if pcmCruise

* revert change

* update refs
old-commit-hash: 274885fc4d
 2022-03-03 05:23:14 -08:00
Adeeb Shihadeh
63bbcd7279 better steer fault names (#23890) 
* better steer fault names

* bump cereal
old-commit-hash: 87849f93b1
 2022-03-01 22:53:55 -08:00
Shane Smiskol
1f5570a96d Longitudinal control: interpolate longitudinal plan (#23787) 
* interpolate longitudinal actuator delay

rename

* formatting

* interpolate v_target most importantly!

* fix interpolation and rename

* nicer setup

* left in from testing

* update refs
old-commit-hash: 2c7845fce0
 2022-02-18 00:45:00 -08:00
Adeeb Shihadeh
97ea3c8ff2 controlsd: only add startup event until initialized (#23671) 
* controlsd: only add startup event until initialized

* update refs

* update again
old-commit-hash: 602f92fc0e
 2022-01-30 20:38:05 -08:00
Shane Smiskol
beeb0442ce base LatControl class (#21967) 
* base LatControl class, move sat check out of pid.py

clean up

clean up

* fix

* global variable for min control speed

* nicer name

* unify latcontrol class init arguments

* add to release files

* saturated if close to limit

* move angle mode saturation checks into class

* check_saturation function takes in current saturated status

undo

* apply latcontrol_angle's active checking to all controllers

* clean up

* move those back

* make abstract baseclass

* add test for saturation

* keep clip

* update ref

* fix static analysis

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 9de8f8cd8c
 2022-01-26 17:10:41 +01:00
Shane Smiskol
183715ccea controlsd: verify unsafe mode consistency (#23563) 
* add unsafe mode check to controlsd

bump submodules

forgot to add to health_t struct

bump

ahh forgot to set it!

bump

bump

clean up

clean up

bump

* fix ordering

* move to end

* unsigned

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 31d147dca2
 2022-01-25 12:09:13 +01:00
Adeeb Shihadeh
d07d22c9b9 controlsd: remove redundant condition 
old-commit-hash: e50efd7671
 2022-01-24 21:28:30 -08:00
Adeeb Shihadeh
70f1418256 remove community features toggle (#23214) 
* remove community features toggle

* bump cereal

* little more

* update refs
old-commit-hash: 3e9cb7fa12
 2022-01-24 14:49:47 -08:00
Willem Melching
962201fff1 Ensure controlsd can engage again in process replay (#23556) 
* hacks to make process replay engage again

* dont change that

* enable engagement check again

* chmod +x

* first working regen

* proper logMonoTime

* fix video framerate consistency

* mpc is valid again

* proper alive checks

* revert loggerd change

* ensure engaged in regen, fix managerState, peripheralState

* ubloxRaw is unused

* add submaster config for gm

* regen all services we can run without HW

* fix loggerd

* loggerd: matroska without the extension

* update ref
old-commit-hash: d3d10e014a
 2022-01-21 13:13:34 +01:00
Adeeb Shihadeh
c2a23fa24c clear no entry alerts if engaged (#23559) 
* clear no entry alerts if engaged

* fix test
old-commit-hash: 59894a6666
 2022-01-17 13:57:53 -08:00
Dean Lee
d0bfd37a95 controlsd: remove extra space (#23553) 
old-commit-hash: 5cd103c3d4
 2022-01-17 13:51:44 +01:00
Adeeb Shihadeh
2013e086ba shutdownd is non essential 
old-commit-hash: c6b892fe58
 2022-01-14 11:59:04 -08:00