0.5.7 hotfixes
Riccardo
Willem Melching
parent
210db686bb
commit
e3c934bcc1
14
README.md
14
README.md
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@ -94,13 +94,13 @@ Supported Cars
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| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
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| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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<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)***
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<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)
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<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
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<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/).
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<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
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<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 />
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<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/) <br />
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<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)***
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<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)
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<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
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<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/).
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<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
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<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.
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<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/).
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Community Maintained Cars
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------
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Binary file not shown.
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@ -15,6 +15,8 @@ except ImportError as e:
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args.extend(sys.argv)
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os.execv(sys.executable, args)
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import os
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import sys
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import time
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import zmq
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import threading
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@ -22,10 +24,13 @@ import numpy as np
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import overpy
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from collections import defaultdict
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from common.params import Params
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from common.transformations.coordinates import geodetic2ecef
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from selfdrive.services import service_list
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import selfdrive.messaging as messaging
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from mapd_helpers import LOOKAHEAD_TIME, MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points
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import selfdrive.crash as crash
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from selfdrive.version import version, dirty
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OVERPASS_API_URL = "https://overpass.kumi.systems/api/interpreter"
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@ -39,13 +44,37 @@ last_query_result = None
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last_query_pos = None
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def setup_thread_excepthook():
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"""
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Workaround for `sys.excepthook` thread bug from:
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http://bugs.python.org/issue1230540
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Call once from the main thread before creating any threads.
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Source: https://stackoverflow.com/a/31622038
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"""
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init_original = threading.Thread.__init__
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def init(self, *args, **kwargs):
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init_original(self, *args, **kwargs)
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run_original = self.run
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def run_with_except_hook(*args2, **kwargs2):
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try:
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run_original(*args2, **kwargs2)
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except Exception:
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sys.excepthook(*sys.exc_info())
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self.run = run_with_except_hook
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threading.Thread.__init__ = init
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def build_way_query(lat, lon, radius=50):
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"""Builds a query to find all highways within a given radius around a point"""
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pos = " (around:%f,%f,%f)" % (radius, lat, lon)
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q = """(
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way
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""" + pos + """
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[highway];
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[highway][highway!~"^(footway|path|bridleway|steps|cycleway|construction|bus_guideway|escape)$"];
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>;);out;
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"""
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return q
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@ -56,6 +85,7 @@ def query_thread():
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api = overpy.Overpass(url=OVERPASS_API_URL, headers=OVERPASS_HEADERS, timeout=10.)
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while True:
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time.sleep(1)
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if last_gps is not None:
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fix_ok = last_gps.flags & 1
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if not fix_ok:
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@ -99,7 +129,6 @@ def query_thread():
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query_lock.acquire()
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last_query_result = None
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query_lock.release()
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time.sleep(1)
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def mapsd_thread():
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@ -145,7 +174,7 @@ def mapsd_thread():
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speed = gps.speed
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query_lock.acquire()
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cur_way = Way.closest(last_query_result, lat, lon, heading)
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cur_way = Way.closest(last_query_result, lat, lon, heading, cur_way)
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if cur_way is not None:
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pnts, curvature_valid = cur_way.get_lookahead(last_query_result, lat, lon, heading, MAPS_LOOKAHEAD_DISTANCE)
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@ -157,7 +186,7 @@ def mapsd_thread():
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curvature_valid = False
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# The curvature is valid when at least MAPS_LOOKAHEAD_DISTANCE of road is found
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if curvature_valid:
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if curvature_valid and pnts.shape[0] > 3:
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# Compute the curvature for each point
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with np.errstate(divide='ignore'):
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circles = [circle_through_points(*p) for p in zip(pnts, pnts[1:], pnts[2:])]
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@ -224,6 +253,13 @@ def mapsd_thread():
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def main(gctx=None):
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params = Params()
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dongle_id = params.get("DongleId")
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crash.bind_user(id=dongle_id)
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crash.bind_extra(version=version, dirty=dirty, is_eon=True)
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crash.install()
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setup_thread_excepthook()
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main_thread = threading.Thread(target=mapsd_thread)
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main_thread.daemon = True
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main_thread.start()
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@ -49,7 +49,7 @@ class Way:
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self.points = np.asarray(points)
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@classmethod
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def closest(cls, query_results, lat, lon, heading):
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def closest(cls, query_results, lat, lon, heading, prev_way=None):
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results, tree, real_nodes, node_to_way = query_results
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cur_pos = geodetic2ecef((lat, lon, 0))
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@ -104,6 +104,12 @@ class Way:
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# With a factor of 60 a 20m offset causes the same error as a 20 degree heading error
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# (A 20 degree heading offset results in an a of about 1/3)
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score = abs(a) * 60. + abs(b)
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# Prefer same type of road
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if prev_way is not None:
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if way.way.tags.get('highway', '') == prev_way.way.tags.get('highway', ''):
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score *= 0.5
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if closest_way is None or score < best_score:
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closest_way = way
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best_score = score
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