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openpilot v0.4.4 release 

old-commit-hash: 9a9ff839a9b70cb2601d7696af743f5652395389
This commit is contained in:
Vehicle Researcher 2018-04-14 06:10:58 +00:00
parent 8a1cbe6d3a
commit e4ba9edefa
32 changed files with 172 additions and 98 deletions
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2
README.md
View File

@ -12,7 +12,7 @@ Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://ww
Hardware
------
Right now openpilot supports the [NEO research platform](http://github.com/commaai/neo) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
Right now openpilot supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

10
RELEASES.md
View File

@ -1,3 +1,13 @@
Version 0.4.4 (2018-04-13)
==========================
* EON are flipped! Flip your EON's mount!
* Alpha Honda Ridgeline support thanks to energee!
* Support optional front camera recording
* Upload over cellular toggle now applies to all files, not just video
* Increase acceleration when closing lead gap
* User now prompted for future updates
* NEO no longer supported :(
Version 0.4.3.2 (2018-03-29)
============================
* Improve autofocus

4
apk/ai.comma.plus.frame.apk
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:d404d901addf1f738e383cc7f98ccbd2d73fb3c64f9bdc08db750378086c9575
size 2109218
oid sha256:70323271320417698bb8640f18bbed920199fb61553ae85ff8a44a08a39e34b5
size 2108896

4
apk/ai.comma.plus.offroad.apk
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:08cc9ce7ddfee8d2cb8a6efcfa6693db35f522e0f10a588bda846c95e955b832
size 15473450
oid sha256:0ddd24ea3ab1349196d6413eed5432d5292d5912c641b6c3e76a46913b284080
size 14337199

3
cereal/car.capnp
View File

@ -55,6 +55,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
manualRestart @30;
lowSpeedLockout @31;
plannerError @32;
ipasOverride @33;
debugAlert @34;
}
}
@ -192,6 +194,7 @@ struct RadarState {
struct CarControl {
# must be true for any actuator commands to work
enabled @0 :Bool;
active @7 :Bool;
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;

3
cereal/log.capnp
View File

@ -485,6 +485,7 @@ struct EncodeIndex {
bigBoxHEVC @2; # bcamera.hevc
chffrAndroidH264 @3; # acamera
fullLosslessClip @4; # prcamera.mkv
front @5; # dcamera.hevc
}
}
@ -542,6 +543,7 @@ struct Plan {
cruise @0;
mpc1 @1;
mpc2 @2;
mpc3 @3;
}
}
@ -1376,6 +1378,7 @@ struct GPSPlannerPlan {
acceleration @4 :Float32;
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
points @6 :List(ECEFPoint);
xLookahead @7 :Float32;
}
struct TrafficEvent @0xacfa74a094e62626 {

2
cereal/mapd.capnp
View File

@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
using Java = import "java.capnp";
$Java.package("ai.comma.openpilot.cereal");
$Java.outerClassname("Log");
$Java.outerClassname("Map");
using Log = import "log.capnp";

6
common/fingerprints.py
View File

@ -15,6 +15,9 @@ class TOYOTA:
COROLLA = "TOYOTA COROLLA 2017"
LEXUS_RXH = "LEXUS RX HYBRID 2017"
class GM:
VOLT = "CHEVROLET VOLT PREMIER 2017"
_DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes
_FINGERPRINTS = {
@ -76,6 +79,9 @@ _FINGERPRINTS = {
TOYOTA.LEXUS_RXH: [{
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
}],
GM.VOLT: [{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
}],
}
# support additional internal only fingerprints

2
common/params.py
View File

@ -74,6 +74,8 @@ keys = {
"DoUninstall": TxType.CLEAR_ON_MANAGER_START,
"ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
"IsUpdateAvailable": TxType.PERSISTANT,
"RecordFront": TxType.PERSISTANT,
}
def fsync_dir(path):

55
selfdrive/car/__init__.py
View File

@ -5,41 +5,26 @@ from common.fingerprints import eliminate_incompatible_cars, all_known_cars
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
from selfdrive.car.honda.interface import CarInterface as HondaInterface
from selfdrive.car.toyota.interface import CarInterface as ToyotaInterface
from selfdrive.car.mock.interface import CarInterface as MockInterface
from common.fingerprints import HONDA, TOYOTA
from common.fingerprints import HONDA, TOYOTA, GM
try:
from .simulator.interface import CarInterface as SimInterface
except ImportError:
SimInterface = None
def load_interfaces(x):
ret = {}
for interface in x:
try:
imp = __import__('selfdrive.car.%s.interface' % interface, fromlist=['CarInterface']).CarInterface
except ImportError:
imp = None
for car in x[interface]:
ret[car] = imp
return ret
try:
from .simulator2.interface import CarInterface as Sim2Interface
except ImportError:
Sim2Interface = None
interfaces = {
HONDA.CIVIC: HondaInterface,
HONDA.ACURA_ILX: HondaInterface,
HONDA.CRV: HondaInterface,
HONDA.ODYSSEY: HondaInterface,
HONDA.ACURA_RDX: HondaInterface,
HONDA.PILOT: HondaInterface,
HONDA.RIDGELINE: HondaInterface,
TOYOTA.PRIUS: ToyotaInterface,
TOYOTA.RAV4: ToyotaInterface,
TOYOTA.RAV4H: ToyotaInterface,
TOYOTA.COROLLA: ToyotaInterface,
TOYOTA.LEXUS_RXH: ToyotaInterface,
"simulator2": Sim2Interface,
"mock": MockInterface
}
# imports from directory selfdrive/car/<name>/
interfaces = load_interfaces({
'honda': [HONDA.CIVIC, HONDA.ACURA_ILX, HONDA.CRV, HONDA.ODYSSEY, HONDA.ACURA_RDX, HONDA.PILOT, HONDA.RIDGELINE],
'toyota': [TOYOTA.PRIUS, TOYOTA.RAV4, TOYOTA.RAV4H, TOYOTA.COROLLA, TOYOTA.LEXUS_RXH],
'gm': [GM.VOLT],
'simulator2': ['simulator2'],
'mock': ['mock']})
# **** for use live only ****
def fingerprint(logcan, timeout):
@ -92,6 +77,10 @@ def get_car(logcan, sendcan=None, passive=True):
return None, None
interface_cls = interfaces[candidate]
if interface_cls is None:
cloudlog.warning("car matched %s, but interface wasn't available" % candidate)
return None, None
params = interface_cls.get_params(candidate, fingerprints)
return interface_cls(params, sendcan), params

14
selfdrive/car/toyota/carcontroller.py
View File

@ -157,9 +157,9 @@ class CarController(object):
# windup slower
if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
angle_rate_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_DELTA_V)
angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_V)
else:
angle_rate_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_DELTA_VU)
angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
else:
@ -195,11 +195,11 @@ class CarController(object):
else:
can_sends.append(create_steer_command(self.packer, apply_steer, frame))
if ECU.APGS in self.fake_ecus:
if self.angle_control:
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled))
else:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0))
if self.angle_control:
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
ECU.APGS in self.fake_ecus))
elif ECU.APGS in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
# accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):

29
selfdrive/car/toyota/carstate.py
View File

@ -36,17 +36,6 @@ def parse_gear_shifter(can_gear, car_fingerprint):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.PRIUS:
dbc_f = 'toyota_prius_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.RAV4H:
dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.RAV4:
dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.COROLLA:
dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.LEXUS_RXH:
dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc'
signals = [
# sig_name, sig_address, default
@ -91,6 +80,19 @@ def get_can_parser(CP):
("EPS_STATUS", 25),
]
# this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.PRIUS:
dbc_f = 'toyota_prius_2017_pt_generated.dbc'
signals += [("STATE", "AUTOPARK_STATUS", 0)]
elif CP.carFingerprint == CAR.RAV4H:
dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.RAV4:
dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.COROLLA:
dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.LEXUS_RXH:
dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc'
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 0)
@ -172,4 +174,7 @@ class CarState(object):
self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
if self.CP.carFingerprint == CAR.PRIUS:
self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
else:
self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])

7
selfdrive/car/toyota/toyotacan.py
View File

@ -28,7 +28,7 @@ def create_video_target(frame, addr):
return make_can_msg(addr, msg, 1, True)
def create_ipas_steer_command(packer, steer, enabled):
def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
"""Creates a CAN message for the Toyota Steer Command."""
if steer < 0:
direction = 3
@ -46,7 +46,10 @@ def create_ipas_steer_command(packer, steer, enabled):
"SET_ME_X10": 0x10,
"SET_ME_X40": 0x40
}
return packer.make_can_msg("STEERING_IPAS", 0, values)
if apgs_enabled:
return packer.make_can_msg("STEERING_IPAS", 0, values)
else:
return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)
def create_steer_command(packer, steer, raw_cnt):

4
selfdrive/common/framebuffer.cc
View File

@ -56,8 +56,8 @@ extern "C" FramebufferState* framebuffer_init(
status = SurfaceComposerClient::getDisplayInfo(s->dtoken, &s->dinfo);
assert(status == 0);
int orientation = 3; // rotate framebuffer 270 degrees
//int orientation = 1; // rotate framebuffer 90 degrees
//int orientation = 3; // rotate framebuffer 270 degrees
int orientation = 1; // rotate framebuffer 90 degrees
if(orientation == 1 || orientation == 3) {
int temp = s->dinfo.h;
s->dinfo.h = s->dinfo.w;

2
selfdrive/common/version.h
View File

@ -1 +1 @@
#define COMMA_VERSION "0.4.3.2-release"
#define COMMA_VERSION "0.4.4-release"

32
selfdrive/common/visionipc.c
View File

@ -193,6 +193,21 @@ int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, Visi
return 0;
}
void visionstream_release(VisionStream *s) {
int err;
if (s->last_idx >= 0) {
VisionPacket rep = {
.type = VIPC_STREAM_RELEASE,
.d = { .stream_rel = {
.type = s->last_type,
.idx = s->last_idx,
}}
};
err = vipc_send(s->ipc_fd, &rep);
s->last_idx = -1;
}
}
VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
int err;
@ -207,7 +222,7 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
VisionPacket rep = {
.type = VIPC_STREAM_RELEASE,
.d = { .stream_rel = {
.type = rp.d.stream_acq.type,
.type = s->last_type,
.idx = s->last_idx,
}}
};
@ -217,6 +232,7 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
}
}
s->last_type = rp.d.stream_acq.type;
s->last_idx = rp.d.stream_acq.idx;
assert(s->last_idx < s->num_bufs);
@ -228,6 +244,20 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
}
void visionstream_destroy(VisionStream *s) {
int err;
if (s->last_idx >= 0) {
VisionPacket rep = {
.type = VIPC_STREAM_RELEASE,
.d = { .stream_rel = {
.type = s->last_type,
.idx = s->last_idx,
}}
};
err = vipc_send(s->ipc_fd, &rep);
s->last_idx = -1;
}
for (int i=0; i<s->num_bufs; i++) {
if (s->bufs[i].addr) {
munmap(s->bufs[i].addr, s->bufs[i].len);

3
selfdrive/common/visionipc.h
View File

@ -24,6 +24,7 @@ typedef enum VisionStreamType {
VISION_STREAM_UI_BACK,
VISION_STREAM_UI_FRONT,
VISION_STREAM_YUV,
VISION_STREAM_YUV_FRONT,
VISION_STREAM_MAX,
} VisionStreamType;
@ -94,12 +95,14 @@ void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
typedef struct VisionStream {
int ipc_fd;
int last_idx;
int last_type;
int num_bufs;
VisionStreamBufs bufs_info;
VIPCBuf *bufs;
} VisionStream;
int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
void visionstream_release(VisionStream *s);
VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
void visionstream_destroy(VisionStream *s);

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

@ -101,8 +101,8 @@ class AlertManager(object):
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
"startup": Alert(
"Always keep hands on wheel",
"Be ready to take over at any time",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, None, None, 0., 0., 15.),

10
selfdrive/controls/lib/longitudinal_mpc/generator.cpp
View File

@ -39,9 +39,9 @@ int main( )
// Running cost
Function h;
h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired));
h << (d_l - desired) / (0.1 * v_ego + 0.5);
h << a_ego * (1.0 + v_ego / 10.0);
h << j_ego * (1.0 + v_ego / 10.0);
h << (d_l - desired) / (0.05 * v_ego + 0.5);
h << a_ego * (0.1 * v_ego + 1.0);
h << j_ego * (0.1 * v_ego + 1.0);
// Weights are defined in mpc.
BMatrix Q(4,4); Q.setAll(true);
@ -49,8 +49,8 @@ int main( )
// Terminal cost
Function hN;
hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired));
hN << (d_l - desired) / (0.1 * v_ego + 0.5);
hN << a_ego * (1.0 + v_ego / 10.0);
hN << (d_l - desired) / (0.05 * v_ego + 0.5);
hN << a_ego * (0.1 * v_ego + 1.0);
// Weights are defined in mpc.
BMatrix QN(3,3); QN.setAll(true);

2
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_common.h
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:3cc46e29bac93957764e9218e7755e1986bdb9c532585371c67f4a0c544a6c04
oid sha256:fc995602c969f2b636a7177f6556ce04c9ed242005ebfb8f827ceb132371470d
size 8760

4
selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_solver.c
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5883cfa43628f11c0e4d49ce216684cbca29070640f1c3ab8801ab5ad0d4334a
size 447794
oid sha256:9b769dcb766f5cde5c9d75632026975a867d06b7f904d93b384c10ced9f151c0
size 447644

4
selfdrive/loggerd/loggerd
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:81592c8a783285043c14a154ceac7b5ef6878fd6cf8bccc5c480385f304c74bf
size 1412368
oid sha256:900915b281d311e13e98ca6c0dcb16966f1127af00d1523b38c8a0fc029c97c1
size 1416464

10
selfdrive/loggerd/uploader.py
View File

@ -155,7 +155,7 @@ class Uploader(object):
self.last_resp = FakeResponse()
else:
with open(fn, "rb") as f:
self.last_resp = requests.put(url, data=f, headers=headers)
self.last_resp = requests.put(url, data=f, headers=headers, timeout=10)
except Exception as e:
self.last_exc = (e, traceback.format_exc())
raise
@ -251,12 +251,16 @@ def uploader_fn(exit_event):
backoff = 0.1
while True:
upload_video = (params.get("IsUploadVideoOverCellularEnabled") != "0") or is_on_wifi()
should_upload = (params.get("IsUploadVideoOverCellularEnabled") != "0") or is_on_wifi()
if exit_event.is_set():
return
d = uploader.next_file_to_upload(upload_video)
if not should_upload:
time.sleep(5)
continue
d = uploader.next_file_to_upload(with_video=True)
if d is None:
time.sleep(5)
continue

5
selfdrive/manager.py
View File

@ -609,6 +609,9 @@ def uninstall():
os.system("service call power 16 i32 0 s16 recovery i32 1")
def main():
# the flippening!
os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
if os.getenv("NOLOG") is not None:
del managed_processes['loggerd']
del managed_processes['tombstoned']
@ -640,6 +643,8 @@ def main():
# set unset params
if params.get("IsMetric") is None:
params.put("IsMetric", "0")
if params.get("RecordFront") is None:
params.put("RecordFront", "0")
if params.get("IsRearViewMirror") is None:
params.put("IsRearViewMirror", "0")
if params.get("IsFcwEnabled") is None:

2
selfdrive/sensord/gpsd
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:9881b7d392b8dc31073ab90edbd398bf5bbbd7400c677ce2e64bacda8d0556fc
oid sha256:536c91fab8a36e7cdb06ade1599cad406a206c1b681bb1873fdb7c39e6213a58
size 981400

2
selfdrive/sensord/sensord
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:1eb76d013d031e1755992e40e9794b20ef7aec8527b017467a91b40362957c4b
oid sha256:da501e3c27b8e736b6c99dac2b7c27ffb38aa43febe56b8134668250eeebb4aa
size 972296

1
selfdrive/service_list.yaml
View File

@ -67,6 +67,7 @@ orbOdometry: [8057, true]
orbFeatures: [8058, true]
orbKeyFrame: [8059, true]
uiLayoutState: [8060, true]
frontEncodeIdx: [8061, true]
testModel: [8040, false]
testLiveLocation: [8045, false]

10
selfdrive/test/tests/plant/test_longitudinal.py
View File

@ -94,6 +94,16 @@ maneuvers = [
speed_lead_breakpoints = [0., 15., 25.0],
cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
duration=50.,
initial_speed = 20.,
lead_relevancy=True,
initial_distance_lead=35.,
speed_lead_values = [20., 20., 0.],
speed_lead_breakpoints = [0., 15., 21.66],
cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
),
Maneuver(
'starting at 0mph, approaching a stopped car 100m away',
duration=30.,

2
selfdrive/ui/spinner/spinner
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:295a6226b3db60adfae573bcaf5760c0bed0d21b9942f5e6a06831a177b20c38
oid sha256:ecc06d8929f61f6d074e354ef5b9f782ed234db99abbbd744d0aa7eb5f19a603
size 205056

14
selfdrive/ui/ui.c
View File

@ -762,7 +762,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
if (!started) {
nvgMoveTo(s->vg, x, y);
track_start_x = x;
track_start_y = y;
track_start_y = vwp_h;
started = true;
} else {
nvgLineTo(s->vg, x, y);
@ -770,7 +770,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
}
// right side down
for (int i=path_height; i>0; i--) {
for (int i=path_height-1; i>0; i--) {
float px, py;
if (is_mpc) {
px = mpc_x_coords[i];
@ -790,7 +790,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
if (!started) {
nvgMoveTo(s->vg, x, y);
track_end_y = y;
track_end_y = vwp_h;
track_end_x = x;
started = true;
} else {
@ -833,10 +833,10 @@ static void draw_frame(UIState *s) {
if (s->scene.frontview) {
out_mat = device_transform; // full 16/9
// flip horizontally so it looks like a mirror
x2 = (float)scene->front_box_x / s->rgb_front_width;
x1 = (float)(scene->front_box_x + scene->front_box_width) / s->rgb_front_width;
y1 = (float)scene->front_box_y / s->rgb_front_height;
y2 = (float)(scene->front_box_y + scene->front_box_height) / s->rgb_front_height;
x1 = (float)scene->front_box_x / s->rgb_front_width;
x2 = (float)(scene->front_box_x + scene->front_box_width) / s->rgb_front_width;
y2 = (float)scene->front_box_y / s->rgb_front_height;
y1 = (float)(scene->front_box_y + scene->front_box_height) / s->rgb_front_height;
} else {
out_mat = matmul(device_transform, frame_transform);
x1 = 1.0;

16
selfdrive/version.py
View File

@ -5,14 +5,14 @@ with open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "common", "ve
try:
origin = subprocess.check_output(["git", "config", "--get", "remote.origin.url"])
if "-private" in origin:
upstream = "origin/master"
else:
if 'chffrplus' in origin:
upstream = "origin/release"
if origin.startswith('git@github.com:commaai'):
if origin.endswith('/one.git'):
dirty = True
else:
upstream = "origin/release2"
dirty = subprocess.call(["git", "diff-index", "--quiet", upstream, "--"]) != 0
branch = subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"]).rstrip()
branch = 'origin/' + branch
dirty = subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0
else:
dirty = True
except subprocess.CalledProcessError:
dirty = True

4
selfdrive/visiond/visiond
View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5e47932d36eaf15244cb8fa24551147936300764b3d25c171bbc1be735700976
size 13382768
oid sha256:120cc9f11d56e4b67a2b9600b04500601ad597f8f4516e1c22cf32330a891442
size 13386048