Merge remote-tracking branch 'upstream/master' into card

selfdrive/car/card.py

@@ -15,14 +15,12 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
 
 State = log.ControlsState.OpenpilotState
 EventName = car.CarEvent.EventName
-ButtonType = car.CarState.ButtonEvent.Type
 
 
 class Car:
@@ -89,7 +87,6 @@ class Car:
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
     self.events = Events()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
 
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -130,11 +127,6 @@ class Car:
 
     self.events.add_from_msg(CS.events)
 
-    # Block resume if cruise never previously enabled
-    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
-    if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
-      self.events.add(EventName.resumeBlocked)
-
     # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
     if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \

selfdrive/car/chrysler/fingerprints.py

@@ -266,6 +266,7 @@ FW_VERSIONS = {
     (Ecu.combinationMeter, 0x742, None): [
       b'68302211AC',
       b'68302212AD',
+      b'68302223AC',
       b'68302246AC',
       b'68331511AC',
       b'68331574AC',

selfdrive/controls/controlsd.py

@@ -20,7 +20,7 @@ from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -145,6 +145,7 @@ class Controls:
     self.desired_curvature = 0.0
     self.experimental_mode = False
     self.personality = self.read_personality_param()
+    self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
     self.can_log_mono_time = 0
@@ -167,11 +168,10 @@ class Controls:
 
   def set_initial_state(self):
     if REPLAY:
-      # TODO: move this to card
+      controls_state = self.params.get("ReplayControlsState")
-      # controls_state = self.params.get("ReplayControlsState")
+      if controls_state is not None:
-      # if controls_state is not None:
+        with log.ControlsState.from_bytes(controls_state) as controls_state:
-      #   with log.ControlsState.from_bytes(controls_state) as controls_state:
+          self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
-      #     self.card.v_cruise_helper.v_cruise_kph = controls_state.vCruise
 
       if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
         self.state = State.enabled
@@ -200,6 +200,11 @@ class Controls:
     if self.CP.passive:
       return
 
+    # Block resume if cruise never previously enabled
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
+      self.events.add(EventName.resumeBlocked)
+
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
@@ -427,6 +432,8 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
+    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
+
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
     self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
@@ -500,6 +507,7 @@ class Controls:
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
+          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -555,7 +563,7 @@ class Controls:
 
     if not self.joystick_mode:
       # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.card.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
       t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
@@ -658,7 +666,7 @@ class Controls:
       CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
 
     hudControl = CC.hudControl
-    hudControl.setSpeed = float(self.card.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
+    hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
@@ -741,8 +749,8 @@ class Controls:
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
-    controlsState.vCruise = float(self.card.v_cruise_helper.v_cruise_kph)
+    controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
-    controlsState.vCruiseCluster = float(self.card.v_cruise_helper.v_cruise_cluster_kph)
+    controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)

selfdrive/ui/translations/main_ko.ts

@@ -809,7 +809,7 @@ This may take up to a minute.</source>
     <name>Sidebar</name>
     <message>
         <source>CONNECT</source>
-        <translation>연결됨</translation>
+        <translation>커넥트</translation>
     </message>
     <message>
         <source>OFFLINE</source>