Vehicle Researcher
6 years ago
parent
3a04a69cbe
commit
cf80f7a28b
242 changed files with 3877 additions and 2547 deletions
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--- |
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name: Bug report |
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about: Create a report to help us improve openpilot |
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title: '' |
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labels: 'bug' |
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assignees: '' |
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|
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--- |
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|
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**Describe the bug** |
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A clear and concise description of what the bug is. |
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**How to reproduce or log data** |
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Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred. |
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**Expected behavior** |
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A clear and concise description of what you expected to happen. |
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** Device/Version information (please complete the following information):** |
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- Device: [e.g. EON/EON Gold] |
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- Version: [e.g. 0.6.4], or commit hash when on devel |
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- Car make/model [e.g. Toyota Prius 2016] |
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**Additional context** |
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Add any other context about the problem here. |
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@ -0,0 +1,21 @@ |
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Choose one of the templates below: |
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# Fingerprint |
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This pull requests adds a fingerprint for <Make - Model - Year - Trim>. |
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This is an explorer link to a drive with the stock system enabled: ... |
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# Car support |
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This pull requests adds support for <Make - Model - Year - Trim>. |
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This is an explorer link to a drive with the stock system enabled: ... |
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This is an explorer link to a drive with openpilot system enabled: ... |
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# Feature |
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This pull requests adds feature X |
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## Description |
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Explain what the feature does |
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## Testing |
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Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving. |
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import os |
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import sysconfig |
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from Cython.Distutils import build_ext |
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def get_ext_filename_without_platform_suffix(filename): |
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name, ext = os.path.splitext(filename) |
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ext_suffix = sysconfig.get_config_var('EXT_SUFFIX') |
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if ext_suffix == ext: |
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return filename |
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ext_suffix = ext_suffix.replace(ext, '') |
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idx = name.find(ext_suffix) |
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if idx == -1: |
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return filename |
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else: |
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return name[:idx] + ext |
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class BuildExtWithoutPlatformSuffix(build_ext): |
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def get_ext_filename(self, ext_name): |
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filename = super().get_ext_filename(ext_name) |
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return get_ext_filename_without_platform_suffix(filename) |
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@ -1,5 +1,9 @@ |
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from distutils.core import setup, Extension |
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from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module |
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from Cython.Build import cythonize |
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from common.cython_hacks import BuildExtWithoutPlatformSuffix |
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setup(name='Simple Kalman Implementation', |
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cmdclass={'build_ext': BuildExtWithoutPlatformSuffix}, |
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ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"]))) |
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@ -0,0 +1,28 @@ |
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import os |
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import subprocess |
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from common.basedir import BASEDIR |
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class Spinner(): |
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def __enter__(self): |
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self.spinner_proc = subprocess.Popen(["./spinner"], |
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stdin=subprocess.PIPE, |
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cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"), |
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close_fds=True) |
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return self |
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def update(self, spinner_text): |
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self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n") |
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self.spinner_proc.stdin.flush() |
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def __exit__(self, type, value, traceback): |
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self.spinner_proc.stdin.close() |
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self.spinner_proc.terminate() |
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if __name__ == "__main__": |
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import time |
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with Spinner() as s: |
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s.update("Spinner text") |
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time.sleep(5.0) |
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@ -1,7 +1,7 @@ |
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{ |
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"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip", |
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"ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11", |
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"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img", |
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"recovery_len": 15136044, |
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"recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662" |
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"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-7a0117425bc4a6673958d265312994e124654a566228f3cec2f0f9bc8120a9ab.zip", |
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"ota_hash": "7a0117425bc4a6673958d265312994e124654a566228f3cec2f0f9bc8120a9ab", |
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"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-3dc234d868c29a3739f6ca3bd47b1c2d3c570d9f478b6849a4fada129ee4af76.img", |
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"recovery_len": 15848748, |
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"recovery_hash": "3dc234d868c29a3739f6ca3bd47b1c2d3c570d9f478b6849a4fada129ee4af76" |
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} |
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from distutils.core import setup, Extension |
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from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module |
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from Cython.Build import cythonize |
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from common.cython_hacks import BuildExtWithoutPlatformSuffix |
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setup(name='CAN Packer API Implementation', |
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cmdclass={'build_ext': BuildExtWithoutPlatformSuffix}, |
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ext_modules=cythonize(Extension("packer_impl", ["packer_impl.pyx"], language="c++", extra_compile_args=["-std=c++11"]))) |
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PYTHONPATH=`realpath ../../../` python chryslercan_test.py |
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@ -1,55 +1,57 @@ |
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from selfdrive.car.chrysler import chryslercan |
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from selfdrive.can.packer import CANPacker |
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import unittest |
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from cereal import car |
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from selfdrive.can.packer import CANPacker |
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from selfdrive.car.chrysler import chryslercan |
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VisualAlert = car.CarControl.HUDControl.VisualAlert |
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GearShifter = car.CarState.GearShifter |
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import unittest |
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class TestChryslerCan(unittest.TestCase): |
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def test_checksum(self): |
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self.assertEqual(0x75, chryslercan.calc_checksum([0x01, 0x20])) |
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self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20])) |
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self.assertEqual(0x75, chryslercan.calc_checksum(b"\x01\x20")) |
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self.assertEqual(0xcc, chryslercan.calc_checksum(b"\x14\x00\x00\x00\x20")) |
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def test_hud(self): |
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packer = CANPacker('chrysler_pacifica_2017_hybrid') |
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self.assertEqual( |
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[0x2a6, 0, '0100010100000000'.decode('hex'), 0], |
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[0x2a6, 0, b'\x01\x00\x01\x01\x00\x00\x00\x00', 0], |
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chryslercan.create_lkas_hud( |
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packer, |
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'park', False, False, 1, 0)) |
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GearShifter.park, False, False, 1, 0)) |
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self.assertEqual( |
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[0x2a6, 0, '0100010000000000'.decode('hex'), 0], |
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[0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0], |
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chryslercan.create_lkas_hud( |
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packer, |
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'park', False, False, 5*4, 0)) |
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GearShifter.park, False, False, 5*4, 0)) |
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self.assertEqual( |
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[0x2a6, 0, '0100010000000000'.decode('hex'), 0], |
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[0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0], |
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chryslercan.create_lkas_hud( |
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packer, |
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'park', False, False, 99999, 0)) |
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GearShifter.park, False, False, 99999, 0)) |
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self.assertEqual( |
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[0x2a6, 0, '0200060000000000'.decode('hex'), 0], |
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[0x2a6, 0, b'\x02\x00\x06\x00\x00\x00\x00\x00', 0], |
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chryslercan.create_lkas_hud( |
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packer, |
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'drive', True, False, 99999, 0)) |
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GearShifter.drive, True, False, 99999, 0)) |
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self.assertEqual( |
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[0x2a6, 0, '0264060000000000'.decode('hex'), 0], |
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[0x2a6, 0, b'\x02\x64\x06\x00\x00\x00\x00\x00', 0], |
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chryslercan.create_lkas_hud( |
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packer, |
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'drive', True, False, 99999, 0x64)) |
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GearShifter.drive, True, False, 99999, 0x64)) |
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def test_command(self): |
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packer = CANPacker('chrysler_pacifica_2017_hybrid') |
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self.assertEqual( |
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[0x292, 0, '140000001086'.decode('hex'), 0], |
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[0x292, 0, b'\x14\x00\x00\x00\x10\x86', 0], |
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chryslercan.create_lkas_command( |
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packer, |
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0, True, 1)) |
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self.assertEqual( |
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[0x292, 0, '040000008083'.decode('hex'), 0], |
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[0x292, 0, b'\x04\x00\x00\x00\x80\x83', 0], |
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chryslercan.create_lkas_command( |
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packer, |
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0, False, 8)) |
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@ -1,18 +1,5 @@ |
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#!/usr/bin/env python |
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import os |
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import time |
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from cereal import car |
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#!/usr/bin/env python3 |
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from selfdrive.car.interfaces import RadarInterfaceBase |
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class RadarInterface(object): |
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def __init__(self, CP): |
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# radar |
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self.pts = {} |
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self.delay = 0.1 |
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def update(self, can_strings): |
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ret = car.RadarData.new_message() |
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if 'NO_RADAR_SLEEP' not in os.environ: |
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time.sleep(0.05) # radard runs on RI updates |
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return ret |
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class RadarInterface(RadarInterfaceBase): |
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pass |
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import os |
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import time |
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from cereal import car |
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from selfdrive.car import gen_empty_fingerprint |
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# generic car and radar interfaces |
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class CarInterfaceBase(): |
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def __init__(self, CP, CarController): |
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pass |
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@staticmethod |
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def calc_accel_override(a_ego, a_target, v_ego, v_target): |
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return 1. |
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@staticmethod |
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False): |
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raise NotImplementedError |
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# returns a car.CarState, pass in car.CarControl |
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def update(self, c, can_strings): |
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raise NotImplementedError |
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# return sendcan, pass in a car.CarControl |
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def apply(self, c): |
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raise NotImplementedError |
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class RadarInterfaceBase(): |
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def __init__(self, CP): |
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self.pts = {} |
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self.delay = 0 |
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def update(self, can_strings): |
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ret = car.RadarData.new_message() |
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if 'NO_RADAR_SLEEP' not in os.environ: |
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time.sleep(0.05) # radard runs on RI updates |
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return ret |
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@ -1,15 +1,5 @@ |
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#!/usr/bin/env python |
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from cereal import car |
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import time |
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#!/usr/bin/env python3 |
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from selfdrive.car.interfaces import RadarInterfaceBase |
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class RadarInterface(object): |
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def __init__(self, CP): |
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# radar |
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self.pts = {} |
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self.delay = 0.1 |
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def update(self, can_strings): |
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ret = car.RadarData.new_message() |
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time.sleep(0.05) # radard runs on RI updates |
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return ret |
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class RadarInterface(RadarInterfaceBase): |
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pass |
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