mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 03:03:57 +08:00
db0a4ef2dc
* dockerize carla + openpilot
* separate dockerfile
* bring back CI dockerfile
* cleanup bridge
* add op docker build and start script
* build container in CI
* fix camerad hack
* remove most magic numbers from bridge.py
* openpilot-sim docker build and run scripts
* fix dmonitoring hacks
* revert controlsd hacks
* clean up build scripts
* singular
* fix path
* fix image name
* modify sim readme
* sim readme and start script changes
* dockerfile with working opengl
* working opengl + passing panda build_st in docker
* fix bug in sim docker file
* bugfix sim docker file
* bugfix all op-sim docker issues
* modify readme + run script
* IT DRIVES
* clean this up
* more cleanup
* cleanup docker stuff
* more cleanup
* start with openpilot-base
* install carla python package
* Script is not in lib
* chmod
* everything should be running in docker now, the code may not be nice though
* works locally...
* rhdChecked is deprecated
* Checkout using git lfs when building sim container
* try to pass the tests
* pull latest docker
* gps should not throw an error on openpilot launch in bridge.py
* fixed a coding style error
* Only start ubloxd in car
* fixed more style problems
* revert typo
* Use enviromental variable to prevent errors in a simulator
* Remove unused import
* Attempt to fix missing enviromental variable
* fix typo
* less work for users, auto tmux engagement
* less work for users, auto tmux engagement
* fix check for nvidia
* clean up nvidia check
* remove typo, shorted dockerfile
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Bruce Wayne <batman@workstation-eu-gregor.eu.local>
Co-authored-by: Gregor Kikelj <gregor1234567890@gmail.com>
old-commit-hash: c5dfbe7a72
90 lines
3.4 KiB
Python
Executable File
90 lines
3.4 KiB
Python
Executable File
#!/usr/bin/env python3
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import cereal.messaging as messaging
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from opendbc.can.packer import CANPacker
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from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error
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from selfdrive.car.honda.values import FINGERPRINTS, CAR
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from selfdrive.car import crc8_pedal
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from selfdrive.test.longitudinal_maneuvers.plant import get_car_can_parser
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cp = get_car_can_parser()
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packer = CANPacker("honda_civic_touring_2016_can_generated")
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rpacker = CANPacker("acura_ilx_2016_nidec")
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def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
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msg = []
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# *** powertrain bus ***
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speed = speed * 3.6 # convert m/s to kph
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msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
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msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
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"WHEEL_SPEED_FL": speed,
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"WHEEL_SPEED_FR": speed,
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"WHEEL_SPEED_RL": speed,
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"WHEEL_SPEED_RR": speed
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}, -1))
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msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
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values = {"COUNTER_PEDAL": idx & 0xF}
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checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1])
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values["CHECKSUM_PEDAL"] = checksum
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msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
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msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx))
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msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
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msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
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msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx))
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msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("STANDSTILL", 0, {}, idx))
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msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
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msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
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msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
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msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
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msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
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# *** cam bus ***
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msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
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msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
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msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
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# *** radar bus ***
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if idx % 5 == 0:
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msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
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for i in range(16):
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msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
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# fill in the rest for fingerprint
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done = set([x[0] for x in msg])
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for k, v in FINGERPRINTS[CAR.CIVIC][0].items():
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if k not in done and k not in [0xE4, 0x194]:
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msg.append([k, 0, b'\x00'*v, 0])
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pm.send('can', can_list_to_can_capnp(msg))
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def sendcan_function(sendcan):
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sc = messaging.drain_sock_raw(sendcan)
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cp.update_strings(sc, sendcan=True)
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if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
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brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] / 1024.
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else:
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brake = 0.0
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if cp.vl[0x200]['GAS_COMMAND'] > 0:
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gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16)
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else:
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gas = 0.0
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if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
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steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840
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else:
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steer_torque = 0.0
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return gas, brake, steer_torque
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