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Merge pull request #470 from commaai/devel 

0.5.7 release
v0.5.7
rbiasini 2018-12-17 20:36:42 -07:00 committed by GitHub
parent 9398a28be2 067f1bfe9e
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76
README.md
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@ -35,7 +35,7 @@ Also, we have a several thousand people community on [slack](https://slack.comma
<table>
<tr>
<td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
@ -51,54 +51,56 @@ Also, we have a several thousand people community on [slack](https://slack.comma
Hardware
------
Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well.
At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
Supported Cars
------
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| ------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic 2017-18 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup>| All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic Hatchback 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/) <br />
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais.
<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/).
Community Maintained Cars
------

10
RELEASES.md
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@ -1,3 +1,13 @@
Version 0.5.7 (2018-12-06)
========================
* Speed limit from OpenStreetMap added to UI
* Highlight speed limit when speed exceeds road speed limit plus a delta
* Option to limit openpilot max speed to road speed limit plus a delta
* Cadillac ATS support thanks to vntarasov!
* GMC Acadia support thanks to CryptoKylan!
* Decrease GPU power consumption
* NEOSv8 autoupdate
Version 0.5.6 (2018-11-16)
========================
* Refresh settings layout and add feature descriptions

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apk/ai.comma.plus.offroad.apk
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7
cereal/Makefile
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@ -6,13 +6,16 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
JS := gen/js/car.capnp.js gen/js/log.capnp.js
UNAME_M ?= $(shell uname -m)
# only generate C++ for docker tests
ifneq ($(OPTEST),1)
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
ifneq (, $(shell which capnpc-java))
GENS += gen/java/Car.java gen/java/Log.java
else
$(warning capnpc-java not found, skipping java build)
endif
endif
endif

1
cereal/car.capnp
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@ -355,6 +355,7 @@ struct CarParams {
radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?
enum SteerControlType {
torque @0;

19
cereal/log.capnp
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@ -276,7 +276,8 @@ struct ThermalData {
startedTs @13 :UInt64;
thermalStatus @14 :ThermalStatus;
chargerDisabled @17 :Bool;
chargingError @17 :Bool;
chargingDisabled @18 :Bool;
enum ThermalStatus {
green @0; # all processes run
@ -344,6 +345,7 @@ struct LiveCalibrationData {
warpMatrix @0 :List(Float32);
# camera_frame_from_model_frame
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
@ -562,6 +564,10 @@ struct Plan {
gpsPlannerActive @19 :Bool;
# maps
vCurvature @21 :Float32;
decelForTurn @22 :Bool;
struct GpsTrajectory {
x @0 :List(Float32);
y @1 :List(Float32);
@ -1567,8 +1573,17 @@ struct LiveParametersData {
}
struct LiveMapData {
valid @0 :Bool;
speedLimitValid @0 :Bool;
speedLimit @1 :Float32;
curvatureValid @2 :Bool;
curvature @3 :Float32;
wayId @4 :UInt64;
roadX @5 :List(Float32);
roadY @6 :List(Float32);
lastGps @7: GpsLocationData;
roadCurvatureX @8 :List(Float32);
roadCurvature @9 :List(Float32);
distToTurn @10 :Float32;
}

3
common/params.py
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@ -63,6 +63,7 @@ keys = {
"IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
"IsDriverMonitoringEnabled": TxType.PERSISTENT,
"IsGeofenceEnabled": TxType.PERSISTENT,
"SpeedLimitOffset": TxType.PERSISTENT,
# written: visiond
# read: visiond, controlsd
"CalibrationParams": TxType.PERSISTENT,
@ -74,6 +75,8 @@ keys = {
"DoUninstall": TxType.CLEAR_ON_MANAGER_START,
"ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
"IsUpdateAvailable": TxType.PERSISTENT,
"LongitudinalControl": TxType.PERSISTENT,
"LimitSetSpeed": TxType.PERSISTENT,
"RecordFront": TxType.PERSISTENT,
}

2
common/transformations/model.py
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@ -83,7 +83,7 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
# camera_frame_from_model_frame aka 'warp matrix'
# was: calibration.h/CalibrationTransform
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
vp = vp_from_ke(camera_frame_from_road_frame)
model_camera_from_model_frame = np.array([

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44
opendbc/generator/honda/honda_insight_ex_2019_can.dbc 100644
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@ -0,0 +1,44 @@
CM_ "IMPORT _bosch_2018.dbc"
BO_ 419 GEARBOX: 8 PCM
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 432 STANDSTILL: 7 VSA
SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
BO_ 927 RADAR_HUD: 8 RADAR
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 1029 DOORS_STATUS: 8 BDY
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
VAL_ 419 GEAR 10 "R" 1 "D" 0 "P";
VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ;
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

4
opendbc/generator/toyota/_toyota_2017.dbc
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@ -248,9 +248,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

1
opendbc/gm_global_a_powertrain.dbc
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@ -180,6 +180,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO

311
opendbc/honda_insight_ex_2019_can_generated.dbc 100644
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@ -0,0 +1,311 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
CM_ "Imported file _bosch_2018.dbc starts here"
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
BO_ 228 STEERING_CONTROL: 5 EON
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
BO_ 232 BRAKE_HOLD: 7 XXX
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
BO_ 304 GAS_PEDAL_2: 8 PCM
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 330 STEERING_SENSORS: 8 EPS
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 344 ENGINE_DATA: 8 PCM
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 380 POWERTRAIN_DATA: 8 PCM
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 399 STEER_STATUS: 7 EPS
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
BO_ 420 VSA_STATUS: 8 VSA
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 450 EPB_STATUS: 8 EPB
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 464 WHEEL_SPEEDS: 8 VSA
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 479 ACC_CONTROL: 8 EON
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 495 ACC_CONTROL_ON: 8 XXX
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
BO_ 545 XXX_16: 6 SCM
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
BO_ 662 SCM_BUTTONS: 4 SCM
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
BO_ 773 SEATBELT_STATUS: 7 BDY
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
BO_ 777 CAR_SPEED: 8 PCM
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 780 ACC_HUD: 8 ADAS
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 804 CRUISE: 8 PCM
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 806 SCM_FEEDBACK: 8 SCM
SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 829 LKAS_HUD: 5 ADAS
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
BO_ 862 CAMERA_MESSAGES: 8 CAM
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 884 STALK_STATUS: 8 XXX
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
BO_ 891 STALK_STATUS_2: 8 XXX
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
CM_ "honda_insight_ex_2019_can.dbc starts here"
BO_ 419 GEARBOX: 8 PCM
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 432 STANDSTILL: 7 VSA
SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
BO_ 927 RADAR_HUD: 8 RADAR
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 1029 DOORS_STATUS: 8 BDY
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
VAL_ 419 GEAR 10 "R" 1 "D" 0 "P";
VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ;
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

2
panda/VERSION
View File

@ -1 +1 @@
v1.1.7
v1.1.8

6
panda/board/main.c
View File

@ -589,6 +589,8 @@ int main() {
uint64_t marker = 0;
#define CURRENT_THRESHOLD 0xF00
#define CLICKS 8
// Enough clicks to ensure that enumeration happened. Should be longer than bootup time of the device connected to EON
#define CLICKS_BOOTUP 30
#endif
for (cnt=0;;cnt++) {
@ -615,8 +617,8 @@ int main() {
}
break;
case USB_POWER_CDP:
// been CLICKS clicks since we switched to CDP
if ((cnt-marker) >= CLICKS) {
// been CLICKS_BOOTUP clicks since we switched to CDP
if ((cnt-marker) >= CLICKS_BOOTUP ) {
// measure current draw, if positive and no enumeration, switch to DCP
if (!is_enumerated && current < CURRENT_THRESHOLD) {
puts("USBP: no enumeration with current draw, switching to DCP mode\n");

1
phonelibs/openblas/libopenblas.so 120000
View File

@ -0,0 +1 @@
libopenblas_armv8p-r0.2.19.so

BIN
phonelibs/openblas/libopenblas_armv8p-r0.2.19.so 100755
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Binary file not shown.

123
pyextra/overpy-0.4-py2.7.egg-info/PKG-INFO
View File

@ -1,123 +0,0 @@
Metadata-Version: 1.1
Name: overpy
Version: 0.4
Summary: Python Wrapper to access the OpenStreepMap Overpass API
Home-page: https://github.com/DinoTools/python-overpy
Author: PhiBo (DinoTools)
Author-email: UNKNOWN
License: MIT
Description: Python Overpass Wrapper
=======================
A Python Wrapper to access the Overpass API.
Have a look at the `documentation`_ to find additional information.
.. image:: https://pypip.in/version/overpy/badge.svg
:target: https://pypi.python.org/pypi/overpy/
:alt: Latest Version
.. image:: https://pypip.in/license/overpy/badge.svg
:target: https://pypi.python.org/pypi/overpy/
:alt: License
.. image:: https://travis-ci.org/DinoTools/python-overpy.svg?branch=master
:target: https://travis-ci.org/DinoTools/python-overpy
.. image:: https://coveralls.io/repos/DinoTools/python-overpy/badge.png?branch=master
:target: https://coveralls.io/r/DinoTools/python-overpy?branch=master
Features
--------
* Query Overpass API
* Parse JSON and XML response data
* Additional helper functions
Install
-------
**Requirements:**
Supported Python versions:
* Python 2.7
* Python >= 3.2
* PyPy and PyPy3
**Install:**
.. code-block:: console
$ pip install overpy
Examples
--------
Additional examples can be found in the `documentation`_ and in the *examples* directory.
.. code-block:: python
import overpy
api = overpy.Overpass()
# fetch all ways and nodes
result = api.query("""
way(50.746,7.154,50.748,7.157) ["highway"];
(._;>;);
out body;
""")
for way in result.ways:
print("Name: %s" % way.tags.get("name", "n/a"))
print(" Highway: %s" % way.tags.get("highway", "n/a"))
print(" Nodes:")
for node in way.nodes:
print(" Lat: %f, Lon: %f" % (node.lat, node.lon))
Helper
~~~~~~
Helper methods are available to provide easy access to often used requests.
.. code-block:: python
import overpy.helper
# 3600062594 is the OSM id of Chemnitz and is the bounding box for the request
street = overpy.helper.get_street(
"Straße der Nationen",
"3600062594"
)
# this finds an intersection between Straße der Nationen and Carolastraße in Chemnitz
intersection = overpy.helper.get_intersection(
"Straße der Nationen",
"Carolastraße",
"3600062594"
)
License
-------
Published under the MIT (see LICENSE for more information)
.. _`documentation`: http://python-overpy.readthedocs.org/
Keywords: OverPy Overpass OSM OpenStreetMap
Platform: UNKNOWN
Classifier: Development Status :: 4 - Beta
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 2.7
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3.2
Classifier: Programming Language :: Python :: 3.3
Classifier: Programming Language :: Python :: 3.4
Classifier: Programming Language :: Python :: 3.5
Classifier: Programming Language :: Python :: Implementation :: CPython
Classifier: Programming Language :: Python :: Implementation :: PyPy

61
pyextra/overpy-0.4-py2.7.egg-info/SOURCES.txt
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@ -1,61 +0,0 @@
CHANGELOG.rst
LICENSE
MANIFEST.in
README.rst
setup.cfg
setup.py
docs/make.bat
docs/source/api.rst
docs/source/changelog.rst
docs/source/conf.py
docs/source/contributing.rst
docs/source/example.rst
docs/source/index.rst
docs/source/introduction.rst
examples/get_areas.py
examples/get_nodes.py
examples/get_ways.py
overpy/__about__.py
overpy/__init__.py
overpy/exception.py
overpy/helper.py
overpy.egg-info/PKG-INFO
overpy.egg-info/SOURCES.txt
overpy.egg-info/dependency_links.txt
overpy.egg-info/not-zip-safe
overpy.egg-info/top_level.txt
tests/__init__.py
tests/base_class.py
tests/test_exception.py
tests/test_json.py
tests/test_request.py
tests/test_result.py
tests/test_result_way.py
tests/test_xml.py
tests/json/area-01.json
tests/json/node-01.json
tests/json/relation-01.json
tests/json/relation-02.json
tests/json/relation-03.json
tests/json/relation-04.json
tests/json/result-expand-01.json
tests/json/result-expand-02.json
tests/json/result-way-01.json
tests/json/result-way-02.json
tests/json/result-way-03.json
tests/json/way-01.json
tests/json/way-02.json
tests/json/way-03.json
tests/json/way-04.json
tests/response/bad-request-encoding.html
tests/response/bad-request.html
tests/xml/area-01.xml
tests/xml/node-01.xml
tests/xml/relation-01.xml
tests/xml/relation-02.xml
tests/xml/relation-03.xml
tests/xml/relation-04.xml
tests/xml/way-01.xml
tests/xml/way-02.xml
tests/xml/way-03.xml
tests/xml/way-04.xml

1
pyextra/overpy-0.4-py2.7.egg-info/dependency_links.txt
View File

@ -1 +0,0 @@

56
pyextra/overpy-0.4-py2.7.egg-info/installed-files.txt
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@ -1,56 +0,0 @@
../overpy/__about__.py
../overpy/__about__.pyc
../overpy/__init__.py
../overpy/__init__.pyc
../overpy/exception.py
../overpy/exception.pyc
../overpy/helper.py
../overpy/helper.pyc
../tests/__init__.py
../tests/__init__.pyc
../tests/base_class.py
../tests/base_class.pyc
../tests/json/area-01.json
../tests/json/node-01.json
../tests/json/relation-01.json
../tests/json/relation-02.json
../tests/json/relation-03.json
../tests/json/relation-04.json
../tests/json/result-expand-01.json
../tests/json/result-expand-02.json
../tests/json/result-way-01.json
../tests/json/result-way-02.json
../tests/json/result-way-03.json
../tests/json/way-01.json
../tests/json/way-02.json
../tests/json/way-03.json
../tests/json/way-04.json
../tests/response/bad-request-encoding.html
../tests/response/bad-request.html
../tests/test_exception.py
../tests/test_exception.pyc
../tests/test_json.py
../tests/test_json.pyc
../tests/test_request.py
../tests/test_request.pyc
../tests/test_result.py
../tests/test_result.pyc
../tests/test_result_way.py
../tests/test_result_way.pyc
../tests/test_xml.py
../tests/test_xml.pyc
../tests/xml/area-01.xml
../tests/xml/node-01.xml
../tests/xml/relation-01.xml
../tests/xml/relation-02.xml
../tests/xml/relation-03.xml
../tests/xml/relation-04.xml
../tests/xml/way-01.xml
../tests/xml/way-02.xml
../tests/xml/way-03.xml
../tests/xml/way-04.xml
PKG-INFO
SOURCES.txt
dependency_links.txt
not-zip-safe
top_level.txt

1
pyextra/overpy-0.4-py2.7.egg-info/not-zip-safe
View File

@ -1 +0,0 @@

2
pyextra/overpy-0.4-py2.7.egg-info/top_level.txt
View File

@ -1,2 +0,0 @@
overpy
tests

219
pyextra/overpy/__init__.py
View File

@ -5,6 +5,8 @@ from xml.sax import handler, make_parser
import json
import re
import sys
import time
import requests
from overpy import exception
from overpy.__about__ import (
@ -18,12 +20,15 @@ PY3 = sys.version_info[0] == 3
XML_PARSER_DOM = 1
XML_PARSER_SAX = 2
if PY2:
from urllib2 import urlopen
from urllib2 import HTTPError
elif PY3:
from urllib.request import urlopen
from urllib.error import HTTPError
# Try to convert some common attributes
# http://wiki.openstreetmap.org/wiki/Elements#Common_attributes
GLOBAL_ATTRIBUTE_MODIFIERS = {
"changeset": int,
"timestamp": lambda ts: datetime.strptime(ts, "%Y-%m-%dT%H:%M:%SZ"),
"uid": int,
"version": int,
"visible": lambda v: v.lower() == "true"
}
def is_valid_type(element, cls):
@ -41,11 +46,16 @@ def is_valid_type(element, cls):
class Overpass(object):
"""
Class to access the Overpass API
:cvar default_max_retry_count: Global max number of retries (Default: 0)
:cvar default_retry_timeout: Global time to wait between tries (Default: 1.0s)
"""
default_max_retry_count = 0
default_read_chunk_size = 4096
default_retry_timeout = 1.0
default_url = "http://overpass-api.de/api/interpreter"
def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX):
def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX, max_retry_count=None, retry_timeout=None, timeout=5.0, headers=None):
"""
:param read_chunk_size: Max size of each chunk read from the server response
:type read_chunk_size: Integer
@ -53,6 +63,14 @@ class Overpass(object):
:type url: str
:param xml_parser: The xml parser to use
:type xml_parser: Integer
:param max_retry_count: Max number of retries (Default: default_max_retry_count)
:type max_retry_count: Integer
:param retry_timeout: Time to wait between tries (Default: default_retry_timeout)
:type retry_timeout: float
:param timeout: HTTP request timeout
:type timeout: float
:param headers: HTTP request headers
:type headers: dict
"""
self.url = self.default_url
if url is not None:
@ -63,7 +81,34 @@ class Overpass(object):
if read_chunk_size is None:
read_chunk_size = self.default_read_chunk_size
self.read_chunk_size = read_chunk_size
if max_retry_count is None:
max_retry_count = self.default_max_retry_count
self.max_retry_count = max_retry_count
if retry_timeout is None:
retry_timeout = self.default_retry_timeout
self.retry_timeout = retry_timeout
self.xml_parser = xml_parser
self.timeout = timeout
self.headers = headers
def _handle_remark_msg(self, msg):
"""
Try to parse the message provided with the remark tag or element.
:param str msg: The message
:raises overpy.exception.OverpassRuntimeError: If message starts with 'runtime error:'
:raises overpy.exception.OverpassRuntimeRemark: If message starts with 'runtime remark:'
:raises overpy.exception.OverpassUnknownError: If we are unable to identify the error
"""
msg = msg.strip()
if msg.startswith("runtime error:"):
raise exception.OverpassRuntimeError(msg=msg)
elif msg.startswith("runtime remark:"):
raise exception.OverpassRuntimeRemark(msg=msg)
raise exception.OverpassUnknownError(msg=msg)
def query(self, query):
"""
@ -76,56 +121,79 @@ class Overpass(object):
if not isinstance(query, bytes):
query = query.encode("utf-8")
try:
f = urlopen(self.url, query)
except HTTPError as e:
f = e
retry_num = 0
retry_exceptions = []
do_retry = True if self.max_retry_count > 0 else False
while retry_num <= self.max_retry_count:
if retry_num > 0:
time.sleep(self.retry_timeout)
retry_num += 1
response = f.read(self.read_chunk_size)
while True:
data = f.read(self.read_chunk_size)
if len(data) == 0:
break
response = response + data
f.close()
try:
if self.headers is not None:
r = requests.post(self.url, query, timeout=self.timeout, headers=self.headers)
else:
r = requests.post(self.url, query, timeout=self.timeout)
response = r.content
except (requests.exceptions.BaseHTTPError, requests.exceptions.RequestException) as e:
if not do_retry:
raise e
retry_exceptions.append(e)
continue
if f.code == 200:
if PY2:
http_info = f.info()
content_type = http_info.getheader("content-type")
else:
content_type = f.getheader("Content-Type")
if r.status_code == 200:
content_type = r.headers["Content-Type"]
if content_type == "application/json":
return self.parse_json(response)
if content_type == "application/json":
return self.parse_json(response)
if content_type == "application/osm3s+xml":
return self.parse_xml(response)
if content_type == "application/osm3s+xml":
return self.parse_xml(response)
raise exception.OverpassUnknownContentType(content_type)
e = exception.OverpassUnknownContentType(content_type)
if not do_retry:
raise e
retry_exceptions.append(e)
continue
elif r.status_code == 400:
msgs = []
for msg in self._regex_extract_error_msg.finditer(response):
tmp = self._regex_remove_tag.sub(b"", msg.group("msg"))
try:
tmp = tmp.decode("utf-8")
except UnicodeDecodeError:
tmp = repr(tmp)
msgs.append(tmp)
if f.code == 400:
msgs = []
for msg in self._regex_extract_error_msg.finditer(response):
tmp = self._regex_remove_tag.sub(b"", msg.group("msg"))
try:
tmp = tmp.decode("utf-8")
except UnicodeDecodeError:
tmp = repr(tmp)
msgs.append(tmp)
e = exception.OverpassBadRequest(
query,
msgs=msgs
)
if not do_retry:
raise e
retry_exceptions.append(e)
continue
elif r.status_code == 429:
e = exception.OverpassTooManyRequests
if not do_retry:
raise e
retry_exceptions.append(e)
continue
elif r.status_code == 504:
e = exception.OverpassGatewayTimeout
if not do_retry:
raise e
retry_exceptions.append(e)
continue
raise exception.OverpassBadRequest(
query,
msgs=msgs
)
# No valid response code
e = exception.OverpassUnknownHTTPStatusCode(r.status_code)
if not do_retry:
raise e
retry_exceptions.append(e)
continue
if f.code == 429:
raise exception.OverpassTooManyRequests
if f.code == 504:
raise exception.OverpassGatewayTimeout
raise exception.OverpassUnknownHTTPStatusCode(f.code)
raise exception.MaxRetriesReached(retry_count=retry_num, exceptions=retry_exceptions)
def parse_json(self, data, encoding="utf-8"):
"""
@ -139,8 +207,11 @@ class Overpass(object):
:rtype: overpy.Result
"""
if isinstance(data, bytes):
data = data.decode(encoding)
data = data.decode(encoding)
data = json.loads(data, parse_float=Decimal)
if "remark" in data:
self._handle_remark_msg(msg=data.get("remark"))
return Result.from_json(data, api=self)
def parse_xml(self, data, encoding="utf-8", parser=None):
@ -155,13 +226,16 @@ class Overpass(object):
"""
if parser is None:
parser = self.xml_parser
if isinstance(data, bytes):
data = data.decode(encoding)
if PY2 and not isinstance(data, str):
# Python 2.x: Convert unicode strings
data = data.encode(encoding)
m = re.compile("<remark>(?P<msg>[^<>]*)</remark>").search(data)
if m:
self._handle_remark_msg(m.group("msg"))
return Result.from_xml(data, api=self, parser=parser)
@ -279,23 +353,39 @@ class Result(object):
return result
@classmethod
def from_xml(cls, data, api=None, parser=XML_PARSER_SAX):
def from_xml(cls, data, api=None, parser=None):
"""
Create a new instance and load data from xml object.
Create a new instance and load data from xml data or object.
.. note::
If parser is set to None, the functions tries to find the best parse.
By default the SAX parser is chosen if a string is provided as data.
The parser is set to DOM if an xml.etree.ElementTree.Element is provided as data value.
:param data: Root element
:type data: xml.etree.ElementTree.Element
:param api:
:type data: str | xml.etree.ElementTree.Element
:param api: The instance to query additional information if required.
:type api: Overpass
:param parser: Specify the parser to use(DOM or SAX)
:type parser: Integer
:param parser: Specify the parser to use(DOM or SAX)(Default: None = autodetect, defaults to SAX)
:type parser: Integer | None
:return: New instance of Result object
:rtype: Result
"""
if parser is None:
if isinstance(data, str):
parser = XML_PARSER_SAX
else:
parser = XML_PARSER_DOM
result = cls(api=api)
if parser == XML_PARSER_DOM:
import xml.etree.ElementTree as ET
root = ET.fromstring(data)
if isinstance(data, str):
root = ET.fromstring(data)
elif isinstance(data, ET.Element):
root = data
else:
raise exception.OverPyException("Unable to detect data type.")
for elem_cls in [Node, Way, Relation, Area]:
for child in root:
@ -522,17 +612,10 @@ class Element(object):
"""
self._result = result
# Try to convert some common attributes
# http://wiki.openstreetmap.org/wiki/Elements#Common_attributes
self._attribute_modifiers = {
"changeset": int,
"timestamp": lambda ts: datetime.strptime(ts, "%Y-%m-%dT%H:%M:%SZ"),
"uid": int,
"version": int,
"visible": lambda v: v.lower() == "true"
}
self.attributes = attributes
for n, m in self._attribute_modifiers.items():
# ToDo: Add option to modify attribute modifiers
attribute_modifiers = dict(GLOBAL_ATTRIBUTE_MODIFIERS.items())
for n, m in attribute_modifiers.items():
if n in self.attributes:
self.attributes[n] = m(self.attributes[n])
self.id = None

58
pyextra/overpy/exception.py
View File

@ -37,6 +37,18 @@ class ElementDataWrongType(OverPyException):
)
class MaxRetriesReached(OverPyException):
"""
Raised if max retries reached and the Overpass server didn't respond with a result.
"""
def __init__(self, retry_count, exceptions):
self.exceptions = exceptions
self.retry_count = retry_count
def __str__(self):
return "Unable get any result from the Overpass API server after %d retries." % self.retry_count
class OverpassBadRequest(OverPyException):
"""
Raised if the Overpass API service returns a syntax error.
@ -62,6 +74,29 @@ class OverpassBadRequest(OverPyException):
return "\n".join(tmp_msgs)
class OverpassError(OverPyException):
"""
Base exception to report errors if the response returns a remark tag or element.
.. note::
If you are not sure which of the subexceptions you should use, use this one and try to parse the message.
For more information have a look at https://github.com/DinoTools/python-overpy/issues/62
:param str msg: The message from the remark tag or element
"""
def __init__(self, msg=None):
#: The message from the remark tag or element
self.msg = msg
def __str__(self):
if self.msg is None:
return "No error message provided"
if not isinstance(self.msg, str):
return str(self.msg)
return self.msg
class OverpassGatewayTimeout(OverPyException):
"""
Raised if load of the Overpass API service is too high and it can't handle the request.
@ -70,6 +105,22 @@ class OverpassGatewayTimeout(OverPyException):
OverPyException.__init__(self, "Server load too high")
class OverpassRuntimeError(OverpassError):
"""
Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with
'runtime error:'.
"""
pass
class OverpassRuntimeRemark(OverpassError):
"""
Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with
'runtime remark:'.
"""
pass
class OverpassTooManyRequests(OverPyException):
"""
Raised if the Overpass API service returns a 429 status code.
@ -94,6 +145,13 @@ class OverpassUnknownContentType(OverPyException):
return "Unknown content type: %s" % self.content_type
class OverpassUnknownError(OverpassError):
"""
Raised if the server returns a remark-tag(xml) or remark element(json) and we are unable to find any reason.
"""
pass
class OverpassUnknownHTTPStatusCode(OverPyException):
"""
Raised if the returned HTTP status code isn't handled by OverPy.

3
requirements_openpilot.txt
View File

@ -5,7 +5,7 @@ libusb1==1.5.0
pycapnp==0.6.3
pyzmq==15.4.0
raven==5.23.0
requests==2.10.0
requests==2.20.0
setproctitle==1.1.10
simplejson==3.8.2
pyyaml==3.12
@ -16,4 +16,5 @@ filterpy==1.2.4
smbus2==0.2.0
pyflakes==1.6.0
-e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
-e git+https://github.com/commaai/python-overpy.git@f86529af402d4642e1faeb146671c40284007323#egg=overpy
Flask==1.0.2

7
selfdrive/boardd/boardd.py
View File

@ -71,9 +71,10 @@ def __parse_can_buffer(dat):
def can_send_many(arr):
snds = []
for addr, _, dat, alt in arr:
snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
snd = snd.ljust(0x10, '\x00')
snds.append(snd)
if addr < 0x800: # only support 11 bit addr
snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
snd = snd.ljust(0x10, '\x00')
snds.append(snd)
while 1:
try:
handle.bulkWrite(3, ''.join(snds))

1
selfdrive/car/ford/interface.py
View File

@ -119,6 +119,7 @@ class CarInterface(object):
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not any(x for x in [970, 973, 984] if x in fingerprint)
ret.openpilotLongitudinalControl = False
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
ret.steerLimitAlert = False

6
selfdrive/car/gm/carcontroller.py
View File

@ -10,7 +10,7 @@ from selfdrive.can.packer import CANPacker
class CarControllerParams():
def __init__(self, car_fingerprint):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
self.STEER_MAX = 300
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
@ -104,7 +104,7 @@ class CarController(object):
self.apply_steer_last = apply_steer
idx = (frame / P.STEER_STEP) % 4
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
can_sends.append(gmcan.create_steering_control(self.packer_pt,
canbus.powertrain, apply_steer, idx, lkas_enabled))
if self.car_fingerprint == CAR.CADILLAC_CT6:
@ -113,7 +113,7 @@ class CarController(object):
### GAS/BRAKE ###
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
# no output if not enabled, but keep sending keepalive messages
# treat pedals as one
final_pedal = actuators.gas - actuators.brake

8
selfdrive/car/gm/carstate.py
View File

@ -31,11 +31,11 @@ def get_powertrain_can_parser(CP, canbus):
("LKATorqueDeliveredStatus", "PSCMStatus", 0),
]
if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU):
if CP.carFingerprint == CAR.VOLT:
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
]
if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
signals += [
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
@ -120,13 +120,13 @@ class CarState(object):
self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
self.acc_active = False
self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
if self.car_fingerprint == CAR.VOLT:
self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
else:
self.regen_pressed = False

21
selfdrive/car/gm/interface.py
View File

@ -62,6 +62,7 @@ class CarInterface(object):
# Have to go passive if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
ret.openpilotLongitudinalControl = ret.enableCamera
std_cargo = 136
@ -97,6 +98,24 @@ class CarInterface(object):
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1 # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.86
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601 + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1
@ -266,7 +285,7 @@ class CarInterface(object):
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
if self.CS.brake_error:
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.gear_shifter_valid:

2
selfdrive/car/gm/radar_interface.py
View File

@ -22,7 +22,7 @@ LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radard_can_parser(canbus, car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
# C1A-ARS3-A by Continental
radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
signals = zip(['FLRRNumValidTargets',

20
selfdrive/car/gm/values.py
View File

@ -6,8 +6,10 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
class CAR:
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"
class CruiseButtons:
UNPRESS = 1
@ -37,7 +39,7 @@ AUDIO_HUD = {
def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
valid_eps_status += [0, 1]
elif car_fingerprint == CAR.CADILLAC_CT6:
valid_eps_status += [0, 1, 4, 5, 6]
@ -69,6 +71,11 @@ FINGERPRINTS = {
{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 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, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 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, 1296: 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, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
}],
CAR.CADILLAC_ATS: [
# Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.CADILLAC_CT6: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
}],
@ -77,6 +84,11 @@ FINGERPRINTS = {
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
}],
CAR.ACADIA: [
# Acadia Denali w/ /ACC 2018
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
}
STEER_THRESHOLD = 1.0
@ -85,12 +97,16 @@ STOCK_CONTROL_MSGS = {
CAR.HOLDEN_ASTRA: [384, 715],
CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_ATS: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_CT6: [], # CT6 does not require ASCMs to be disconnected
}
DBC = {
CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
}

15
selfdrive/car/honda/carstate.py
View File

@ -40,8 +40,6 @@ def get_can_signals(CP):
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
("GEAR", "GEARBOX", 0),
("BRAKE_ERROR_1", "STANDSTILL", 1),
("BRAKE_ERROR_2", "STANDSTILL", 1),
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
@ -63,7 +61,6 @@ def get_can_signals(CP):
("STEERING_SENSORS", 100),
("SCM_FEEDBACK", 10),
("GEARBOX", 100),
("STANDSTILL", 50),
("SEATBELT_STATUS", 10),
("CRUISE", 10),
("POWERTRAIN_DATA", 100),
@ -84,9 +81,12 @@ def get_can_signals(CP):
checks += [("GAS_PEDAL_2", 100)]
else:
# Nidec signals.
signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
("BRAKE_ERROR_2", "STANDSTILL", 1),
("CRUISE_SPEED_PCM", "CRUISE", 0),
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
checks += [("CRUISE_PARAMS", 50)]
checks += [("CRUISE_PARAMS", 50),
("STANDSTILL", 50)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
@ -205,7 +205,10 @@ class CarState(object):
self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3] # 3 is low speed lockout, not worth a warning
self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
if self.CP.radarOffCan:
self.brake_error = 0
else:
self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
# calc best v_ego estimate, by averaging two opposite corners

7
selfdrive/car/honda/interface.py
View File

@ -151,10 +151,13 @@ class CarInterface(object):
ret.safetyModel = car.CarParams.SafetyModels.hondaBosch
ret.enableCamera = True
ret.radarOffCan = True
ret.openpilotLongitudinalControl = False
else:
ret.safetyModel = car.CarParams.SafetyModels.honda
ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
ret.enableGasInterceptor = 0x201 in fingerprint
ret.openpilotLongitudinalControl = ret.enableCamera
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
@ -485,8 +488,8 @@ class CarInterface(object):
ret.buttonEvents = buttonEvents
# events
# TODO: I don't like the way capnp does enums
# These strings aren't checked at compile time
# TODO: event names aren't checked at compile time.
# Maybe there is a way to use capnp enums directly
events = []
if not self.CS.can_valid:
self.can_invalid_count += 1

1
selfdrive/car/hyundai/interface.py
View File

@ -163,6 +163,7 @@ class CarInterface(object):
ret.longPidDeadzoneV = [0.]
ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
ret.openpilotLongitudinalControl = False
ret.steerLimitAlert = False
ret.stoppingControl = False

1
selfdrive/car/mock/interface.py
View File

@ -47,6 +47,7 @@ class CarInterface(object):
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.noOutput
ret.openpilotLongitudinalControl = False
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars

1
selfdrive/car/toyota/interface.py
View File

@ -186,6 +186,7 @@ class CarInterface(object):
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)

4
selfdrive/car/toyota/values.py
View File

@ -108,6 +108,10 @@ FINGERPRINTS = {
}],
CAR.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
},
# RX450HL
{
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, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 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, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 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, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.CHR: [{
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8

2
selfdrive/common/version.h
View File

@ -1 +1 @@
#define COMMA_VERSION "0.5.6-release"
#define COMMA_VERSION "0.5.7-release"

13
selfdrive/controls/controlsd.py
View File

@ -2,13 +2,11 @@
import gc
import zmq
import json
from cereal import car, log
from common.numpy_fast import clip
from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
from common.profiler import Profiler
from common.params import Params
import selfdrive.messaging as messaging
from selfdrive.config import Conversions as CV
from selfdrive.services import service_list
@ -25,7 +23,7 @@ from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.alertmanager import AlertManager
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.controls.lib.driver_monitor import DriverStatus
from selfdrive.locationd.calibration_values import Calibration, Filter
from selfdrive.locationd.calibration_helpers import Calibration, Filter
ThermalStatus = log.ThermalData.ThermalStatus
State = log.Live100Data.ControlState
@ -121,14 +119,14 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter
def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
def calc_plan(CS, CP, VM, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
"""Calculate a longitudinal plan using MPC"""
# Slow down when based on driver monitoring or geofence
force_decel = driver_status.awareness < 0. or (geofence is not None and not geofence.in_geofence)
# Update planner
plan_packet = PL.update(CS, LaC, LoC, v_cruise_kph, force_decel)
plan_packet = PL.update(CS, CP, VM, LaC, LoC, v_cruise_kph, force_decel)
plan = plan_packet.plan
plan_ts = plan_packet.logMonoTime
events += list(plan.events)
@ -461,6 +459,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0")
state = State.disabled
soft_disable_timer = 0
@ -496,7 +495,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
prof.checkpoint("Sample")
# Define longitudinal plan (MPC)
plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence)
plan, plan_ts = calc_plan(CS, CP, VM, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence)
prof.checkpoint("Plan")
if not passive:
@ -512,7 +511,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
# Publish data
CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
prof.checkpoint("Sent")
rk.keep_time() # Run at 100Hz

12
selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
View File

@ -1,11 +1,19 @@
import os
import platform
import subprocess
from cffi import FFI
mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
subprocess.check_call(["make", "-j4"], cwd=mpc_dir)
if platform.machine() == "x86_64":
try:
FFI().dlopen(os.path.join(mpc_dir, "libmpc1.so"))
except OSError:
# libmpc1.so is likely built for aarch64. cleaning...
subprocess.check_call(["make", "clean"], cwd=mpc_dir)
subprocess.check_call(["make", "-j4"], cwd=mpc_dir)
def _get_libmpc(mpc_id):
libmpc_fn = os.path.join(mpc_dir, "libmpc%d.so" % mpc_id)
@ -36,9 +44,7 @@ def _get_libmpc(mpc_id):
return (ffi, ffi.dlopen(libmpc_fn))
mpcs = [_get_libmpc(1), _get_libmpc(2)]
def get_libmpc(mpc_id):
return mpcs[mpc_id - 1]

31
selfdrive/controls/lib/planner.py
View File

@ -6,6 +6,7 @@ import numpy as np
from copy import copy
from cereal import log
from collections import defaultdict
from common.params import Params
from common.realtime import sec_since_boot
from common.numpy_fast import interp
import selfdrive.messaging as messaging
@ -19,6 +20,10 @@ from selfdrive.controls.lib.speed_smoother import speed_smoother
from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
# Max lateral acceleration, used to caclulate how much to slow down in turns
A_Y_MAX = 2.0 # m/s^2
NO_CURVATURE_SPEED = 200. * CV.MPH_TO_MS
_DT = 0.01 # 100Hz
_DT_MPC = 0.2 # 5Hz
MAX_SPEED_ERROR = 2.0
@ -249,8 +254,10 @@ class Planner(object):
context = zmq.Context()
self.CP = CP
self.poller = zmq.Poller()
self.live20 = messaging.sub_sock(context, service_list['live20'].port, conflate=True, poller=self.poller)
self.model = messaging.sub_sock(context, service_list['model'].port, conflate=True, poller=self.poller)
self.live_map_data = messaging.sub_sock(context, service_list['liveMapData'].port, conflate=True, poller=self.poller)
if os.environ.get('GPS_PLANNER_ACTIVE', False):
self.gps_planner_plan = messaging.sub_sock(context, service_list['gpsPlannerPlan'].port, conflate=True, poller=self.poller, addr=GPS_PLANNER_ADDR)
@ -293,8 +300,12 @@ class Planner(object):
self.last_gps_planner_plan = None
self.gps_planner_active = False
self.last_live_map_data = None
self.perception_state = log.Live20Data.new_message()
self.params = Params()
self.v_speedlimit = NO_CURVATURE_SPEED
def choose_solution(self, v_cruise_setpoint, enabled):
if enabled:
solutions = {'cruise': self.v_cruise}
@ -327,7 +338,7 @@ class Planner(object):
self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint])
# this runs whenever we get a packet that can change the plan
def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel):
def update(self, CS, CP, VM, LaC, LoC, v_cruise_kph, force_slow_decel):
cur_time = sec_since_boot()
v_cruise_setpoint = v_cruise_kph * CV.KPH_TO_MS
@ -342,6 +353,8 @@ class Planner(object):
l20 = messaging.recv_one(socket)
elif socket is self.gps_planner_plan:
gps_planner_plan = messaging.recv_one(socket)
elif socket is self.live_map_data:
self.last_live_map_data = messaging.recv_one(socket).liveMapData
if gps_planner_plan is not None:
self.last_gps_planner_plan = gps_planner_plan
@ -381,9 +394,23 @@ class Planner(object):
enabled = (LoC.long_control_state == LongCtrlState.pid) or (LoC.long_control_state == LongCtrlState.stopping)
following = self.lead_1.status and self.lead_1.dRel < 45.0 and self.lead_1.vLeadK > CS.vEgo and self.lead_1.aLeadK > 0.0
if self.last_live_map_data:
self.v_speedlimit = NO_CURVATURE_SPEED
# Speed limit
if self.last_live_map_data.speedLimitValid:
speed_limit = self.last_live_map_data.speedLimit
set_speed_limit_active = self.params.get("LimitSetSpeed") == "1" and self.params.get("SpeedLimitOffset") is not None
if set_speed_limit_active:
offset = float(self.params.get("SpeedLimitOffset"))
self.v_speedlimit = speed_limit + offset
v_cruise_setpoint = min([v_cruise_setpoint, self.v_speedlimit])
# Calculate speed for normal cruise control
if enabled:
accel_limits = map(float, calc_cruise_accel_limits(CS.vEgo, following))
# TODO: make a separate lookup for jerk tuning
jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]

0
selfdrive/locationd/calibration_values.py → selfdrive/locationd/calibration_helpers.py
View File

8
selfdrive/locationd/calibrationd.py
View File

@ -6,13 +6,13 @@ import copy
import json
import numpy as np
import selfdrive.messaging as messaging
from selfdrive.locationd.calibration_values import Calibration, Filter
from selfdrive.locationd.calibration_helpers import Calibration, Filter
from selfdrive.swaglog import cloudlog
from selfdrive.services import service_list
from common.params import Params
from common.ffi_wrapper import ffi_wrap
import common.transformations.orientation as orient
from common.transformations.model import model_height, get_camera_frame_from_model_frame
from common.transformations.model import model_height, get_camera_frame_from_model_frame, get_camera_frame_from_bigmodel_frame
from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
eon_intrinsics, get_calib_from_vp, normalize, denormalize, H, W
@ -208,13 +208,15 @@ class Calibrator(object):
calib = get_calib_from_vp(self.vp)
extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
ke = eon_intrinsics.dot(extrinsic_matrix)
warp_matrix = get_camera_frame_from_model_frame(ke, model_height)
warp_matrix = get_camera_frame_from_model_frame(ke)
warp_matrix_big = get_camera_frame_from_bigmodel_frame(ke)
cal_send = messaging.new_message()
cal_send.init('liveCalibration')
cal_send.liveCalibration.calStatus = self.cal_status
cal_send.liveCalibration.calPerc = min(self.frame_counter * 100 / CALIBRATION_CYCLES_NEEDED, 100)
cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten())
cal_send.liveCalibration.warpMatrixBig = map(float, warp_matrix_big.flatten())
cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten())
livecalibration.send(cal_send.to_bytes())

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selfdrive/loggerd/loggerd
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12
selfdrive/manager.py
View File

@ -42,7 +42,7 @@ def unblock_stdout():
if __name__ == "__main__":
if os.path.isfile("/init.qcom.rc") \
and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 6):
and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 8):
# update continue.sh before updating NEOS
if os.path.isfile(os.path.join(BASEDIR, "scripts", "continue.sh")):
@ -88,6 +88,7 @@ managed_processes = {
"controlsd": "selfdrive.controls.controlsd",
"radard": "selfdrive.controls.radard",
"ubloxd": "selfdrive.locationd.ubloxd",
"mapd": "selfdrive.mapd.mapd",
"loggerd": ("selfdrive/loggerd", ["./loggerd"]),
"logmessaged": "selfdrive.logmessaged",
"tombstoned": "selfdrive.tombstoned",
@ -135,7 +136,8 @@ car_started_processes = [
'visiond',
'proclogd',
'ubloxd',
'orbd'
'orbd',
'mapd',
]
def register_managed_process(name, desc, car_started=False):
@ -474,6 +476,12 @@ def main():
params.put("IsDriverMonitoringEnabled", "1")
if params.get("IsGeofenceEnabled") is None:
params.put("IsGeofenceEnabled", "-1")
if params.get("SpeedLimitOffset") is None:
params.put("SpeedLimitOffset", "0")
if params.get("LongitudinalControl") is None:
params.put("LongitudinalControl", "0")
if params.get("LimitSetSpeed") is None:
params.put("LimitSetSpeed", "0")
# is this chffrplus?
if os.getenv("PASSIVE") is not None:

0
selfdrive/mapd/__init__.py 100644
View File

276
selfdrive/mapd/mapd.py 100755
View File

@ -0,0 +1,276 @@
#!/usr/bin/env python
# Add phonelibs openblas to LD_LIBRARY_PATH if import fails
try:
from scipy import spatial
except ImportError as e:
import os
import sys
from common.basedir import BASEDIR
openblas_path = os.path.join(BASEDIR, "phonelibs/openblas/")
os.environ['LD_LIBRARY_PATH'] += ':' + openblas_path
args = [sys.executable]
args.extend(sys.argv)
os.execv(sys.executable, args)
import os
import sys
import time
import zmq
import threading
import numpy as np
import overpy
from collections import defaultdict
from common.params import Params
from common.transformations.coordinates import geodetic2ecef
from selfdrive.services import service_list
import selfdrive.messaging as messaging
from mapd_helpers import LOOKAHEAD_TIME, MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points
import selfdrive.crash as crash
from selfdrive.version import version, dirty
OVERPASS_API_URL = "https://overpass.kumi.systems/api/interpreter"
OVERPASS_HEADERS = {
'User-Agent': 'NEOS (comma.ai)'
}
last_gps = None
query_lock = threading.Lock()
last_query_result = None
last_query_pos = None
def setup_thread_excepthook():
"""
Workaround for `sys.excepthook` thread bug from:
http://bugs.python.org/issue1230540
Call once from the main thread before creating any threads.
Source: https://stackoverflow.com/a/31622038
"""
init_original = threading.Thread.__init__
def init(self, *args, **kwargs):
init_original(self, *args, **kwargs)
run_original = self.run
def run_with_except_hook(*args2, **kwargs2):
try:
run_original(*args2, **kwargs2)
except Exception:
sys.excepthook(*sys.exc_info())
self.run = run_with_except_hook
threading.Thread.__init__ = init
def build_way_query(lat, lon, radius=50):
"""Builds a query to find all highways within a given radius around a point"""
pos = " (around:%f,%f,%f)" % (radius, lat, lon)
q = """(
way
""" + pos + """
[highway][highway!~"^(footway|path|bridleway|steps|cycleway|construction|bus_guideway|escape)$"];
>;);out;
"""
return q
def query_thread():
global last_query_result, last_query_pos
api = overpy.Overpass(url=OVERPASS_API_URL, headers=OVERPASS_HEADERS, timeout=10.)
while True:
time.sleep(1)
if last_gps is not None:
fix_ok = last_gps.flags & 1
if not fix_ok:
continue
if last_query_pos is not None:
cur_ecef = geodetic2ecef((last_gps.latitude, last_gps.longitude, last_gps.altitude))
prev_ecef = geodetic2ecef((last_query_pos.latitude, last_query_pos.longitude, last_query_pos.altitude))
dist = np.linalg.norm(cur_ecef - prev_ecef)
if dist < 1000:
continue
q = build_way_query(last_gps.latitude, last_gps.longitude, radius=2000)
try:
new_result = api.query(q)
# Build kd-tree
nodes = []
real_nodes = []
node_to_way = defaultdict(list)
for n in new_result.nodes:
nodes.append((float(n.lat), float(n.lon), 0))
real_nodes.append(n)
for way in new_result.ways:
for n in way.nodes:
node_to_way[n.id].append(way)
nodes = np.asarray(nodes)
nodes = geodetic2ecef(nodes)
tree = spatial.cKDTree(nodes)
query_lock.acquire()
last_query_result = new_result, tree, real_nodes, node_to_way
last_query_pos = last_gps
query_lock.release()
except Exception as e:
print e
query_lock.acquire()
last_query_result = None
query_lock.release()
def mapsd_thread():
global last_gps
context = zmq.Context()
gps_sock = messaging.sub_sock(context, service_list['gpsLocation'].port, conflate=True)
gps_external_sock = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, conflate=True)
map_data_sock = messaging.pub_sock(context, service_list['liveMapData'].port)
cur_way = None
curvature_valid = False
curvature = None
upcoming_curvature = 0.
dist_to_turn = 0.
road_points = None
xx = np.arange(0, MAPS_LOOKAHEAD_DISTANCE, 10)
while True:
gps = messaging.recv_one(gps_sock)
gps_ext = messaging.recv_one_or_none(gps_external_sock)
if gps_ext is not None:
gps = gps_ext.gpsLocationExternal
else:
gps = gps.gpsLocation
last_gps = gps
fix_ok = gps.flags & 1
if not fix_ok or last_query_result is None:
cur_way = None
curvature = None
curvature_valid = False
upcoming_curvature = 0.
dist_to_turn = 0.
road_points = None
else:
lat = gps.latitude
lon = gps.longitude
heading = gps.bearing
speed = gps.speed
query_lock.acquire()
cur_way = Way.closest(last_query_result, lat, lon, heading, cur_way)
if cur_way is not None:
pnts, curvature_valid = cur_way.get_lookahead(last_query_result, lat, lon, heading, MAPS_LOOKAHEAD_DISTANCE)
xs = pnts[:, 0]
ys = pnts[:, 1]
road_points = map(float, xs), map(float, ys)
if speed < 10:
curvature_valid = False
# The curvature is valid when at least MAPS_LOOKAHEAD_DISTANCE of road is found
if curvature_valid and pnts.shape[0] > 3:
# Compute the curvature for each point
with np.errstate(divide='ignore'):
circles = [circle_through_points(*p) for p in zip(pnts, pnts[1:], pnts[2:])]
circles = np.asarray(circles)
radii = np.nan_to_num(circles[:, 2])
radii[radii < 10] = np.inf
curvature = 1. / radii
# Index of closest point
closest = np.argmin(np.linalg.norm(pnts, axis=1))
dist_to_closest = pnts[closest, 0] # We can use x distance here since it should be close
# Compute distance along path
dists = list()
dists.append(0)
for p, p_prev in zip(pnts, pnts[1:, :]):
dists.append(dists[-1] + np.linalg.norm(p - p_prev))
dists = np.asarray(dists)
dists = dists - dists[closest] + dist_to_closest
# TODO: Determine left or right turn
curvature = np.nan_to_num(curvature)
curvature_interp = np.interp(xx, dists[1:-1], curvature)
curvature_lookahead = curvature_interp[:int(speed * LOOKAHEAD_TIME / 10)]
# Outlier rejection
new_curvature = np.percentile(curvature_lookahead, 90)
k = 0.9
upcoming_curvature = k * upcoming_curvature + (1 - k) * new_curvature
in_turn_indices = curvature_interp > 0.8 * new_curvature
if np.any(in_turn_indices):
dist_to_turn = np.min(xx[in_turn_indices])
else:
dist_to_turn = 999
query_lock.release()
dat = messaging.new_message()
dat.init('liveMapData')
if last_gps is not None:
dat.liveMapData.lastGps = last_gps
if cur_way is not None:
dat.liveMapData.wayId = cur_way.id
# Seed limit
max_speed = cur_way.max_speed
if max_speed is not None:
dat.liveMapData.speedLimitValid = True
dat.liveMapData.speedLimit = max_speed
# Curvature
dat.liveMapData.curvatureValid = curvature_valid
dat.liveMapData.curvature = float(upcoming_curvature)
dat.liveMapData.distToTurn = float(dist_to_turn)
if road_points is not None:
dat.liveMapData.roadX, dat.liveMapData.roadY = road_points
if curvature is not None:
dat.liveMapData.roadCurvatureX = map(float, xx)
dat.liveMapData.roadCurvature = map(float, curvature_interp)
map_data_sock.send(dat.to_bytes())
def main(gctx=None):
params = Params()
dongle_id = params.get("DongleId")
crash.bind_user(id=dongle_id)
crash.bind_extra(version=version, dirty=dirty, is_eon=True)
crash.install()
setup_thread_excepthook()
main_thread = threading.Thread(target=mapsd_thread)
main_thread.daemon = True
main_thread.start()
q_thread = threading.Thread(target=query_thread)
q_thread.daemon = True
q_thread.start()
while True:
time.sleep(0.1)
if __name__ == "__main__":
main()

229
selfdrive/mapd/mapd_helpers.py 100644
View File

@ -0,0 +1,229 @@
import math
import numpy as np
from datetime import datetime
from selfdrive.config import Conversions as CV
from common.transformations.coordinates import LocalCoord, geodetic2ecef
LOOKAHEAD_TIME = 10.
MAPS_LOOKAHEAD_DISTANCE = 50 * LOOKAHEAD_TIME
def circle_through_points(p1, p2, p3):
"""Fits a circle through three points
Formulas from: http://www.ambrsoft.com/trigocalc/circle3d.htm"""
x1, y1, _ = p1
x2, y2, _ = p2
x3, y3, _ = p3
A = x1 * (y2 - y3) - y1 * (x2 - x3) + x2 * y3 - x3 * y2
B = (x1**2 + y1**2) * (y3 - y2) + (x2**2 + y2**2) * (y1 - y3) + (x3**2 + y3**2) * (y2 - y1)
C = (x1**2 + y1**2) * (x2 - x3) + (x2**2 + y2**2) * (x3 - x1) + (x3**2 + y3**2) * (x1 - x2)
D = (x1**2 + y1**2) * (x3 * y2 - x2 * y3) + (x2**2 + y2**2) * (x1 * y3 - x3 * y1) + (x3**2 + y3**2) * (x2 * y1 - x1 * y2)
return (-B / (2 * A), - C / (2 * A), np.sqrt((B**2 + C**2 - 4 * A * D) / (4 * A**2)))
def parse_speed_unit(max_speed):
"""Converts a maxspeed string to m/s based on the unit present in the input.
OpenStreetMap defaults to kph if no unit is present. """
conversion = CV.KPH_TO_MS
if 'mph' in max_speed:
max_speed = max_speed.replace(' mph', '')
conversion = CV.MPH_TO_MS
return float(max_speed) * conversion
class Way:
def __init__(self, way):
self.id = way.id
self.way = way
points = list()
for node in self.way.get_nodes(resolve_missing=False):
points.append((float(node.lat), float(node.lon), 0.))
self.points = np.asarray(points)
@classmethod
def closest(cls, query_results, lat, lon, heading, prev_way=None):
results, tree, real_nodes, node_to_way = query_results
cur_pos = geodetic2ecef((lat, lon, 0))
nodes = tree.query_ball_point(cur_pos, 500)
# If no nodes within 500m, choose closest one
if not nodes:
nodes = [tree.query(cur_pos)[1]]
ways = []
for n in nodes:
real_node = real_nodes[n]
ways += node_to_way[real_node.id]
ways = set(ways)
closest_way = None
best_score = None
for way in ways:
way = Way(way)
points = way.points_in_car_frame(lat, lon, heading)
on_way = way.on_way(lat, lon, heading, points)
if not on_way:
continue
# Create mask of points in front and behind
x = points[:, 0]
y = points[:, 1]
angles = np.arctan2(y, x)
front = np.logical_and((-np.pi / 2) < angles,
angles < (np.pi / 2))
behind = np.logical_not(front)
dists = np.linalg.norm(points, axis=1)
# Get closest point behind the car
dists_behind = np.copy(dists)
dists_behind[front] = np.NaN
closest_behind = points[np.nanargmin(dists_behind)]
# Get closest point in front of the car
dists_front = np.copy(dists)
dists_front[behind] = np.NaN
closest_front = points[np.nanargmin(dists_front)]
# fit line: y = a*x + b
x1, y1, _ = closest_behind
x2, y2, _ = closest_front
a = (y2 - y1) / max((x2 - x1), 1e-5)
b = y1 - a * x1
# With a factor of 60 a 20m offset causes the same error as a 20 degree heading error
# (A 20 degree heading offset results in an a of about 1/3)
score = abs(a) * 60. + abs(b)
# Prefer same type of road
if prev_way is not None:
if way.way.tags.get('highway', '') == prev_way.way.tags.get('highway', ''):
score *= 0.5
if closest_way is None or score < best_score:
closest_way = way
best_score = score
return closest_way
def __str__(self):
return "%s %s" % (self.id, self.way.tags)
@property
def max_speed(self):
"""Extracts the (conditional) speed limit from a way"""
if not self.way:
return None
tags = self.way.tags
max_speed = None
if 'maxspeed' in tags:
max_speed = parse_speed_unit(tags['maxspeed'])
if 'maxspeed:conditional' in tags:
max_speed_cond, cond = tags['maxspeed:conditional'].split(' @ ')
cond = cond[1:-1]
start, end = cond.split('-')
now = datetime.now() # TODO: Get time and timezone from gps fix so this will work correctly on replays
start = datetime.strptime(start, "%H:%M").replace(year=now.year, month=now.month, day=now.day)
end = datetime.strptime(end, "%H:%M").replace(year=now.year, month=now.month, day=now.day)
if start <= now <= end:
max_speed = parse_speed_unit(max_speed_cond)
return max_speed
def on_way(self, lat, lon, heading, points=None):
if points is None:
points = self.points_in_car_frame(lat, lon, heading)
x = points[:, 0]
return np.min(x) < 0. and np.max(x) > 0.
def closest_point(self, lat, lon, heading, points=None):
if points is None:
points = self.points_in_car_frame(lat, lon, heading)
i = np.argmin(np.linalg.norm(points, axis=1))
return points[i]
def distance_to_closest_node(self, lat, lon, heading, points=None):
if points is None:
points = self.points_in_car_frame(lat, lon, heading)
return np.min(np.linalg.norm(points, axis=1))
def points_in_car_frame(self, lat, lon, heading):
lc = LocalCoord.from_geodetic([lat, lon, 0.])
# Build rotation matrix
heading = math.radians(-heading + 90)
c, s = np.cos(heading), np.sin(heading)
rot = np.array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
# Convert to local coordinates
points_carframe = lc.geodetic2ned(self.points).T
# Rotate with heading of car
points_carframe = np.dot(rot, points_carframe[(1, 0, 2), :]).T
return points_carframe
def next_way(self, query_results, lat, lon, heading, backwards=False):
results, tree, real_nodes, node_to_way = query_results
if backwards:
node = self.way.nodes[0]
else:
node = self.way.nodes[-1]
ways = node_to_way[node.id]
way = None
try:
# Simple heuristic to find next way
ways = [w for w in ways if w.id != self.id and w.tags['highway'] == self.way.tags['highway']]
if len(ways) == 1:
way = Way(ways[0])
except KeyError:
pass
return way
def get_lookahead(self, query_results, lat, lon, heading, lookahead):
pnts = None
way = self
valid = False
for i in range(5):
# Get new points and append to list
new_pnts = way.points_in_car_frame(lat, lon, heading)
if pnts is None:
pnts = new_pnts
else:
pnts = np.vstack([pnts, new_pnts])
# Check current lookahead distance
max_dist = np.linalg.norm(pnts[-1, :])
if max_dist > lookahead:
valid = True
if max_dist > 2 * lookahead:
break
# Find next way
way = way.next_way(query_results, lat, lon, heading)
if not way:
break
return pnts, valid

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selfdrive/sensord/gpsd
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selfdrive/sensord/sensord
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28
selfdrive/thermald.py
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@ -84,6 +84,7 @@ _FAN_SPEEDS = [0, 16384, 32768, 65535]
# max fan speed only allowed if battery is hot
_BAT_TEMP_THERSHOLD = 45.
def handle_fan(max_cpu_temp, bat_temp, fan_speed):
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
@ -103,6 +104,23 @@ def handle_fan(max_cpu_temp, bat_temp, fan_speed):
return fan_speed
def check_car_battery_voltage(should_start, health, charging_disabled):
# charging disallowed if:
# - there are health packets from panda, and;
# - 12V battery voltage is too low, and;
# - onroad isn't started
if charging_disabled and (health is None or health.health.voltage > 11500):
charging_disabled = False
os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
elif not charging_disabled and health is not None and health.health.voltage < 11000 and not should_start:
charging_disabled = True
os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
return charging_disabled
class LocationStarter(object):
def __init__(self):
self.last_good_loc = 0
@ -133,6 +151,7 @@ class LocationStarter(object):
cloudlog.event("location_start", location=location.to_dict() if location else None)
return location.speed*3.6 > 10
def thermald_thread():
setup_eon_fan()
@ -156,6 +175,10 @@ def thermald_thread():
health_sock.RCVTIMEO = 1500
current_filter = FirstOrderFilter(0., CURRENT_TAU, 1.)
# Make sure charging is enabled
charging_disabled = False
os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
params = Params()
while 1:
@ -182,7 +205,6 @@ def thermald_thread():
msg.thermal.usbOnline = bool(int(f.read()))
current_filter.update(msg.thermal.batteryCurrent / 1e6)
msg.thermal.chargerDisabled = current_filter.x > 1.0 # if current is ? 1A out, then charger might be off
# TODO: add car battery voltage check
max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
@ -268,6 +290,10 @@ def thermald_thread():
started_seen and (sec_since_boot() - off_ts) > 60:
os.system('LD_LIBRARY_PATH="" svc power shutdown')
charging_disabled = check_car_battery_voltage(should_start, health, charging_disabled)
msg.thermal.chargingDisabled = charging_disabled
msg.thermal.chargingError = current_filter.x > 1.0 # if current is > 1A out, then charger might be off
msg.thermal.started = started_ts is not None
msg.thermal.startedTs = int(1e9*(started_ts or 0))

253
selfdrive/ui/ui.c
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@ -87,6 +87,8 @@ const int alert_sizes[] = {
[ALERTSIZE_FULL] = vwp_h,
};
const int SET_SPEED_NA = 255;
// TODO: this is also hardcoded in common/transformations/camera.py
const mat3 intrinsic_matrix = (mat3){{
910., 0., 582.,
@ -224,9 +226,13 @@ typedef struct UIState {
int awake_timeout;
int volume_timeout;
int speed_lim_off_timeout;
int is_metric_timeout;
int status;
bool is_metric;
float speed_lim_off;
bool is_ego_over_limit;
bool passive;
char alert_type[64];
char alert_sound[64];
@ -282,6 +288,26 @@ static void set_do_exit(int sig) {
do_exit = 1;
}
static void read_speed_lim_off(UIState *s) {
char *speed_lim_off = NULL;
read_db_value(NULL, "SpeedLimitOffset", &speed_lim_off, NULL);
s->speed_lim_off = 0.;
if (speed_lim_off) {
s->speed_lim_off = strtod(speed_lim_off, NULL);
free(speed_lim_off);
}
s->speed_lim_off_timeout = 2 * 60; // 2Hz
}
static void read_is_metric(UIState *s) {
char *is_metric;
const int result = read_db_value(NULL, "IsMetric", &is_metric, NULL);
if (result == 0) {
s->is_metric = is_metric[0] == '1';
free(is_metric);
}
s->is_metric_timeout = 2 * 60; // 2Hz
}
static const char frame_vertex_shader[] =
"attribute vec4 aPosition;\n"
@ -530,12 +556,9 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
0.0, 0.0, 0.0, 1.0,
}};
char *value;
const int result = read_db_value(NULL, "IsMetric", &value, NULL);
if (result == 0) {
s->is_metric = value[0] == '1';
free(value);
}
read_speed_lim_off(s);
read_is_metric(s);
s->is_metric_timeout = 60; // offset so values isn't read together with limit offset
}
static void ui_draw_transformed_box(UIState *s, uint32_t color) {
@ -915,40 +938,80 @@ static void ui_draw_vision_maxspeed(UIState *s) {
const UIScene *scene = &s->scene;
int ui_viz_rx = scene->ui_viz_rx;
int ui_viz_rw = scene->ui_viz_rw;
float maxspeed = s->scene.v_cruise;
const int viz_maxspeed_x = (ui_viz_rx + (bdr_s*2));
const int viz_maxspeed_y = (box_y + (bdr_s*1.5));
const int viz_maxspeed_w = 180;
const int viz_maxspeed_h = 202;
char maxspeed_str[32];
bool is_cruise_set = (maxspeed != 0 && maxspeed != 255);
float maxspeed = s->scene.v_cruise;
int maxspeed_calc = maxspeed * 0.6225 + 0.5;
float speedlimit = s->scene.speedlimit;
int speedlim_calc = speedlimit * 2.2369363 + 0.5;
int speed_lim_off = s->speed_lim_off * 2.2369363 + 0.5;
if (s->is_metric) {
maxspeed_calc = maxspeed + 0.5;
speedlim_calc = speedlimit * 3.6 + 0.5;
speed_lim_off = s->speed_lim_off * 3.6 + 0.5;
}
bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA);
bool is_speedlim_valid = s->scene.speedlimit_valid;
bool is_set_over_limit = is_speedlim_valid && s->scene.engaged &&
is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off);
int viz_maxspeed_w = 184;
int viz_maxspeed_h = 202;
int viz_maxspeed_x = (ui_viz_rx + (bdr_s*2));
int viz_maxspeed_y = (box_y + (bdr_s*1.5));
int viz_maxspeed_xo = 180;
viz_maxspeed_w += viz_maxspeed_xo;
viz_maxspeed_x += viz_maxspeed_w - (viz_maxspeed_xo * 2);
// Draw Background
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 30);
if (is_set_over_limit) {
nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180));
} else {
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 100));
}
nvgFill(s->vg);
// Draw Border
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 20);
nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
nvgStrokeWidth(s->vg, 6);
if (is_set_over_limit) {
nvgStrokeColor(s->vg, nvgRGBA(218, 111, 37, 255));
} else if (is_speedlim_valid && !s->is_ego_over_limit) {
nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 255));
} else if (is_speedlim_valid && s->is_ego_over_limit) {
nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 20));
} else {
nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 100));
}
nvgStrokeWidth(s->vg, 10);
nvgStroke(s->vg);
// Draw "MAX" Text
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
nvgFontFace(s->vg, "sans-regular");
nvgFontSize(s->vg, 26*2.5);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 148, "MAX", NULL);
nvgFontFace(s->vg, "sans-semibold");
nvgFontSize(s->vg, 52*2.5);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
if (is_cruise_set) {
if (s->is_metric) {
snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(maxspeed + 0.5));
} else {
snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(maxspeed * 0.6225 + 0.5));
}
nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 242, maxspeed_str, NULL);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
} else {
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
}
nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 148, "MAX", NULL);
// Draw Speed Text
nvgFontFace(s->vg, "sans-bold");
nvgFontSize(s->vg, 48*2.5);
if (is_cruise_set) {
snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", maxspeed_calc);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 242, maxspeed_str, NULL);
} else {
nvgFontFace(s->vg, "sans-semibold");
nvgFontSize(s->vg, 42*2.5);
nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 242, "N/A", NULL);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 242, "N/A", NULL);
}
}
@ -957,69 +1020,84 @@ static void ui_draw_vision_speedlimit(UIState *s) {
int ui_viz_rx = scene->ui_viz_rx;
int ui_viz_rw = scene->ui_viz_rw;
if (!s->scene.speedlimit_valid){
return;
char speedlim_str[32];
float speedlimit = s->scene.speedlimit;
int speedlim_calc = speedlimit * 2.2369363 + 0.5;
if (s->is_metric) {
speedlim_calc = speedlimit * 3.6 + 0.5;
}
float speedlimit = s->scene.speedlimit;
bool is_speedlim_valid = s->scene.speedlimit_valid;
float hysteresis_offset = 0.5;
if (s->is_ego_over_limit) {
hysteresis_offset = 0.0;
}
s->is_ego_over_limit = is_speedlim_valid && s->scene.v_ego > (speedlimit + s->speed_lim_off + hysteresis_offset);
const int viz_maxspeed_w = 180;
const int viz_maxspeed_h = 202;
int viz_speedlim_w = 180;
int viz_speedlim_h = 202;
int viz_speedlim_x = (ui_viz_rx + (bdr_s*2));
int viz_speedlim_y = (box_y + (bdr_s*1.5));
if (!is_speedlim_valid) {
viz_speedlim_w -= 5;
viz_speedlim_h -= 10;
viz_speedlim_x += 9;
viz_speedlim_y += 5;
}
int viz_speedlim_bdr = is_speedlim_valid ? 30 : 15;
const int viz_event_w = 220;
const int viz_event_x = ((ui_viz_rx + ui_viz_rw) - (viz_event_w + (bdr_s*2)));
const int viz_maxspeed_x = viz_event_x + (viz_event_w-viz_maxspeed_w);
const int viz_maxspeed_y = (footer_y + ((footer_h - viz_maxspeed_h) / 2)) - 20;
char maxspeed_str[32];
if (s->is_metric) {
nvgBeginPath(s->vg);
nvgCircle(s->vg, viz_maxspeed_x + viz_maxspeed_w / 2, viz_maxspeed_y + viz_maxspeed_h / 2, 127);
nvgFillColor(s->vg, nvgRGBA(195, 0, 0, 255));
nvgFill(s->vg);
nvgBeginPath(s->vg);
nvgCircle(s->vg, viz_maxspeed_x + viz_maxspeed_w / 2, viz_maxspeed_y + viz_maxspeed_h / 2, 100);
// Draw Background
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, viz_speedlim_bdr);
if (is_speedlim_valid && s->is_ego_over_limit) {
nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180));
} else if (is_speedlim_valid) {
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
nvgFill(s->vg);
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
nvgFontFace(s->vg, "sans-bold");
nvgFontSize(s->vg, 130);
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(speedlimit * 3.6 + 0.5));
nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 135, maxspeed_str, NULL);
} else {
const int border = 10;
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, viz_maxspeed_x - border, viz_maxspeed_y - border, viz_maxspeed_w + 2 * border, viz_maxspeed_h + 2 * border, 30);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
nvgFill(s->vg);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100));
}
nvgFill(s->vg);
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 20);
nvgStrokeColor(s->vg, nvgRGBA(0, 0, 0, 255));
nvgStrokeWidth(s->vg, 8);
// Draw Border
if (is_speedlim_valid) {
nvgStrokeWidth(s->vg, 10);
nvgStroke(s->vg);
nvgBeginPath(s->vg);
nvgRoundedRect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, 20);
if (s->is_ego_over_limit) {
nvgStrokeColor(s->vg, nvgRGBA(218, 111, 37, 255));
} else if (is_speedlim_valid) {
nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 255));
}
}
// Draw "Speed Limit" Text
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
nvgFontFace(s->vg, "sans-semibold");
nvgFontSize(s->vg, 50);
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
if (is_speedlim_valid && s->is_ego_over_limit) {
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
}
nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 50 : 45), "SPEED", NULL);
nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 90 : 85), "LIMIT", NULL);
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
// Draw Speed Text
nvgFontFace(s->vg, "sans-bold");
nvgFontSize(s->vg, 48*2.5);
if (s->is_ego_over_limit) {
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
} else {
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
}
if (is_speedlim_valid) {
snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc);
nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, NULL);
} else {
nvgFontFace(s->vg, "sans-semibold");
nvgFontSize(s->vg, 50);
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 50, "SPEED", NULL);
nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 90, "LIMIT", NULL);
nvgFontFace(s->vg, "sans-bold");
nvgFontSize(s->vg, 120);
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255));
snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(speedlimit * 2.2369363 + 0.5));
nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 170, maxspeed_str, NULL);
}
nvgFontSize(s->vg, 42*2.5);
nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", NULL);
}
}
static void ui_draw_vision_speed(UIState *s) {
@ -1137,6 +1215,7 @@ static void ui_draw_vision_header(UIState *s) {
nvgFill(s->vg);
ui_draw_vision_maxspeed(s);
ui_draw_vision_speedlimit(s);
ui_draw_vision_speed(s);
ui_draw_vision_wheel(s);
}
@ -1151,8 +1230,6 @@ static void ui_draw_vision_footer(UIState *s) {
// Driver Monitoring
ui_draw_vision_face(s);
ui_draw_vision_speedlimit(s);
}
static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
@ -1710,7 +1787,7 @@ static void ui_update(UIState *s) {
struct cereal_LiveMapData datad;
cereal_read_LiveMapData(&datad, eventd.liveMapData);
s->scene.speedlimit = datad.speedLimit;
s->scene.speedlimit_valid = datad.valid;
s->scene.speedlimit_valid = datad.speedLimitValid;
}
capn_free(&ctx);
zmq_msg_close(&msg);
@ -1975,6 +2052,18 @@ int main() {
set_volume(s, volume);
}
if (s->speed_lim_off_timeout > 0) {
s->speed_lim_off_timeout--;
} else {
read_speed_lim_off(s);
}
if (s->is_metric_timeout > 0) {
s->is_metric_timeout--;
} else {
read_is_metric(s);
}
pthread_mutex_unlock(&s->lock);
// the bg thread needs to be scheduled, so the main thread needs time without the lock

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selfdrive/visiond/visiond
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