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cleanup and test actuators

albatross
Kevin Roscom 2022-02-23 00:22:40 -06:00
parent a60ce1f939
commit 0f133c61a1
6 changed files with 29 additions and 24 deletions
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7
launch_x86.sh 100755
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@ -0,0 +1,7 @@
#! /bin/bash
export USE_WEBCAM=1
export ROADCAM_ID=0
export DRIVERCAM_ID=2
./launch_openpilot.sh

2
opendbc

@ -1 +1 @@
Subproject commit b1d3a96355d830c21d7106ea8465ea2957badbbd
Subproject commit 7994ffa766f5367dc39e9474a59b2b9abe3d3f64

2
panda

@ -1 +1 @@
Subproject commit b8ce1c9686da19cac3094e7d754dc6a642b87cef
Subproject commit 4522320fdc6ac5990aae191082f1e1f132778113

15
selfdrive/camerad/cameras/camera_webcam.cc
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@ -18,8 +18,8 @@
#include "selfdrive/common/util.h"
// id of the video capturing device
const int ROAD_CAMERA_ID = getenv("ROADCAM_ID") ? atoi(getenv("ROADCAM_ID")) : 1;
const int DRIVER_CAMERA_ID = getenv("DRIVERCAM_ID") ? atoi(getenv("DRIVERCAM_ID")) : 2;
const int ROAD_CAMERA_ID = 0; //getenv("ROADCAM_ID") ? atoi(getenv("ROADCAM_ID")) : 1;
const int DRIVER_CAMERA_ID = 2; //getenv("DRIVERCAM_ID") ? atoi(getenv("DRIVERCAM_ID")) : 2;
#define FRAME_WIDTH 1164
#define FRAME_HEIGHT 874
@ -97,16 +97,19 @@ static void road_camera_thread(CameraState *s) {
set_thread_name("webcam_road_camera_thread");
cv::VideoCapture cap_road(ROAD_CAMERA_ID, cv::CAP_V4L2); // road
cap_road.set(cv::CAP_PROP_FRAME_WIDTH, 853);
cap_road.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
cap_road.set(cv::CAP_PROP_FRAME_WIDTH, 1280);
cap_road.set(cv::CAP_PROP_FRAME_HEIGHT, 800);
cap_road.set(cv::CAP_PROP_FPS, s->fps);
cap_road.set(cv::CAP_PROP_AUTOFOCUS, 0); // off
cap_road.set(cv::CAP_PROP_FOCUS, 0); // 0 - 255?
// cv::Rect roi_rear(160, 0, 960, 720);
// transforms calculation see tools/webcam/warp_vis.py
float ts[9] = {1.50330396, 0.0, -59.40969163,
0.0, 1.50330396, 76.20704846,
// float ts[9] = {1.50330396, 0.0, -59.40969163,
// 0.0, 1.50330396, 76.20704846,
// 0.0, 0.0, 1.0};
float ts[9] = {0.99560759, 0.0, -55.18885977,
0.0, 0.99560759, 38.75696264,
0.0, 0.0, 1.0};
// if camera upside down:
// float ts[9] = {-1.50330396, 0.0, 1223.4,

11
selfdrive/car/ocelot/carcontroller.py
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@ -1,8 +1,8 @@
from cereal import car
from common.numpy_fast import clip
from selfdrive.car import apply_toyota_steer_torque_limits, make_can_msg
from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car.ocelot.ocelotcan import create_steer_command, create_gas_command, create_brake_cmd
from selfdrive.car.ocelot.values import CAR, SteerLimitParams
from selfdrive.car.ocelot.values import SteerLimitParams
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -103,7 +103,7 @@ class CarController():
# This prevents unexpected pedal range rescaling
can_sends.append(create_gas_command(self.packer, apply_gas, frame//2))
can_sends.append(create_brake_cmd(self.packer, enabled, actuators.brake, frame//2))
can_sends.append(create_brake_cmd(self.packer, enabled, actuators.brake, frame))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
@ -111,14 +111,9 @@ class CarController():
fcw_alert = hud_alert == VisualAlert.fcw
steer_alert = hud_alert == VisualAlert.steerRequired
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
# #*** static msgs ***

16
selfdrive/car/ocelot/ocelotcan.py
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@ -6,7 +6,7 @@ def create_steer_command(packer, steer, mode, raw_cnt):
"REQUESTED_STEER_TORQUE": steer,
"COUNTER": raw_cnt,
}
return packer.make_can_msg("OCELOT_STEERING_COMMAND", 0, values)
return packer.make_can_msg("OCELOT_STEERING_COMMAND", 2, values)
def create_gas_command(packer, gas_amount, idx):
# Common gas pedal msg generator
@ -18,16 +18,16 @@ def create_gas_command(packer, gas_amount, idx):
}
if enable:
values["GAS_COMMAND"] = gas_amount * 255.
values["GAS_COMMAND2"] = gas_amount * 255.
values["GAS_COMMAND"] = gas_amount * 2500
values["GAS_COMMAND2"] = gas_amount * 1250
return packer.make_can_msg("PEDAL_GAS_COMMAND", 0, values)
return packer.make_can_msg("PEDAL_GAS_COMMAND", 2, values)
def create_brake_cmd(packer, enabled, brake, raw_cnt):
values = {
"BRAKE_POSITION_COMMAND" : 0,
"BRAKE_RELATIVE_COMMAND": brake * 252,
"BRAKE_MODE": enabled,
"BRAKE_POSITION_COMMAND" : brake * 47,
"BRAKE_RELATIVE_COMMAND": 0,
"BRAKE_MODE": 2 if enabled else 0,
"COUNTER" : raw_cnt,
}
return packer.make_can_msg("OCELOT_BRAKE_COMMAND", 0, values)
return packer.make_can_msg("OCELOT_BRAKE_COMMAND", 2, values)