openpilot v0.4.5.1 release

cereal/car.capnp

@@ -263,9 +263,9 @@ struct CarParams {
   radarNameDEPRECATED @1 :Text;
   carFingerprint @2 :Text;
 
-  enableSteer @3 :Bool;
-  enableGas @4 :Bool;
-  enableBrake @5 :Bool;
+  enableSteerDEPRECATED @3 :Bool;
+  enableGasInterceptor @4 :Bool;
+  enableBrakeDEPRECATED @5 :Bool;
   enableCruise @6 :Bool;
   enableCamera @26 :Bool;
   enableDsu @27 :Bool; # driving support unit

selfdrive/car/honda/carcontroller.py

@@ -145,7 +145,7 @@ class CarController(object):
       can_sends.append(
         hondacan.create_brake_command(self.packer, apply_brake, pcm_override,
                                       pcm_cancel_cmd, hud.chime, hud.fcw, idx))
-      if not CS.brake_only:
+      if CS.CP.enableGasInterceptor:
         # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
         # This prevents unexpected pedal range rescaling
         can_sends.append(hondacan.create_gas_command(self.packer, apply_gas, idx))

selfdrive/car/honda/carstate.py

@@ -145,7 +145,7 @@ def get_can_signals(CP):
     signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
 
   # add gas interceptor reading if we are using it
-  if CP.enableGas:
+  if CP.enableGasInterceptor:
     signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
     checks.append(("GAS_SENSOR", 50))
 
@@ -159,7 +159,6 @@ def get_can_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
-    self.brake_only = CP.enableCruise
     self.CP = CP
 
     self.user_gas, self.user_gas_pressed = 0., 0
@@ -233,7 +232,7 @@ class CarState(object):
 
     # this is a hack for the interceptor. This is now only used in the simulation
     # TODO: Replace tests by toyota so this can go away
-    if self.CP.enableGas:
+    if self.CP.enableGasInterceptor:
       self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
       self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
 
@@ -300,8 +299,7 @@ if __name__ == '__main__':
   class CarParams(object):
     def __init__(self):
       self.carFingerprint = "HONDA CIVIC 2016 TOURING"
-      self.enableGas = 0
-      self.enableCruise = 0
+      self.enableGasInterceptor = 0
   CP = CarParams()
   CS = CarState(CP)
 

selfdrive/car/honda/interface.py

@@ -146,15 +146,12 @@ class CarInterface(object):
 
     ret.safetyModel = car.CarParams.SafetyModels.honda
 
-    ret.enableSteer = True
-    ret.enableBrake = True
-
     ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
-    ret.enableGas = 0x201 in fingerprint
+    ret.enableGasInterceptor = 0x201 in fingerprint
     print "ECU Camera Simulated: ", ret.enableCamera
-    print "ECU Gas Interceptor: ", ret.enableGas
+    print "ECU Gas Interceptor: ", ret.enableGasInterceptor
 
-    ret.enableCruise = not ret.enableGas
+    ret.enableCruise = not ret.enableGasInterceptor
 
     # FIXME: hardcoding honda civic 2016 touring params so they can be used to
     # scale unknown params for other cars
@@ -264,7 +261,7 @@ class CarInterface(object):
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGas) else 25.5 * CV.MPH_TO_MS
+    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
@@ -289,7 +286,7 @@ class CarInterface(object):
     ret.steerMaxV = [1.]   # max steer allowed
 
     ret.gasMaxBP = [0.]  # m/s
-    ret.gasMaxV = [0.6] if ret.enableGas else [0.] # max gas allowed
+    ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
     ret.brakeMaxBP = [5., 20.]  # m/s
     ret.brakeMaxV = [1., 0.8]   # max brake allowed
 
@@ -329,7 +326,7 @@ class CarInterface(object):
 
     # gas pedal
     ret.gas = self.CS.car_gas / 256.0
-    if not self.CP.enableGas:
+    if not self.CP.enableGasInterceptor:
       ret.gasPressed = self.CS.pedal_gas > 0
     else:
       ret.gasPressed = self.CS.user_gas_pressed

selfdrive/car/toyota/interface.py

@@ -56,9 +56,6 @@ class CarInterface(object):
 
     ret.safetyModel = car.CarParams.SafetyModels.toyota
 
-    ret.enableSteer = True
-    ret.enableBrake = True
-
     # pedal
     ret.enableCruise = True
 

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.4.5-release"
+#define COMMA_VERSION "0.4.5.1-release"

selfdrive/controls/controlsd.py

@@ -15,18 +15,15 @@ from selfdrive.controls.lib.planner import Planner
 from selfdrive.controls.lib.drive_helpers import learn_angle_offset, \
                                                  get_events, \
                                                  create_event, \
-                                                 EventTypes as ET
+                                                 EventTypes as ET, \
+                                                 update_v_cruise, \
+                                                 initialize_v_cruise
 from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
 from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 
 
-V_CRUISE_MAX = 144
-V_CRUISE_MIN = 8
-V_CRUISE_DELTA = 8
-V_CRUISE_ENABLE_MIN = 40
-
 AWARENESS_TIME = 360.      # 6 minutes limit without user touching steering wheels
 AWARENESS_PRE_TIME = 20.   # a first alert is issued 20s before start decelerating the car
 
@@ -125,16 +122,11 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
   # compute conditional state transitions and execute actions on state transitions
   enabled = isEnabled(state)
 
-  # handle button presses. TODO: this should be in state_control, but a decelCruise press
-  # would have the effect of both enabling and changing speed is checked after the state transition
   v_cruise_kph_last = v_cruise_kph
-  for b in CS.buttonEvents:
-    if not CP.enableCruise and enabled and not b.pressed:
-      if b.type == "accelCruise":
-        v_cruise_kph -= (v_cruise_kph % V_CRUISE_DELTA) - V_CRUISE_DELTA
-      elif b.type == "decelCruise":
-        v_cruise_kph -= (v_cruise_kph % V_CRUISE_DELTA) + V_CRUISE_DELTA
-      v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
+
+  # if stock cruise is completely disabled, then we can use our own set speed logic
+  if not CP.enableCruise:
+    v_cruise_kph = update_v_cruise(v_cruise_kph, CS.buttonEvents, enabled)
 
   # decrease the soft disable timer at every step, as it's reset on
   # entrance in SOFT_DISABLING state
@@ -155,8 +147,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
         else:
           state = State.enabled
         AM.add("enable", enabled)
-        # on activation, let's always set v_cruise from where we are, even if PCM ACC is active
-        v_cruise_kph = int(round(max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN)))
+        v_cruise_kph = initialize_v_cruise(CS.vEgo)
 
   # ENABLED
   elif state == State.enabled:
@@ -274,10 +265,6 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
   actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle,
                                                      CS.steeringPressed, plan.dPoly, angle_offset, VM, PL)
 
-  # send a "steering required alert" if saturation count has reached the limit
-  if LaC.sat_flag and CP.steerLimitAlert:
-    AM.add("steerSaturated", enabled)
-
   if CP.enableCruise and CS.cruiseState.enabled:
     v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
 
@@ -288,6 +275,10 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
      state in [State.preEnabled, State.disabled]:
     awareness_status = 1.
 
+  # send a "steering required alert" if saturation count has reached the limit
+  if LaC.sat_flag and CP.steerLimitAlert:
+    AM.add("steerSaturated", enabled)
+
   # parse permanent warnings to display constantly
   for e in get_events(events, [ET.PERMANENT]):
     AM.add(str(e) + "Permanent", enabled)

selfdrive/controls/lib/drive_helpers.py

@@ -1,6 +1,12 @@
-from common.numpy_fast import clip
 from cereal import car
+from common.numpy_fast import clip
+from selfdrive.config import Conversions as CV
 
+# kph
+V_CRUISE_MAX = 144
+V_CRUISE_MIN = 8
+V_CRUISE_DELTA = 8
+V_CRUISE_ENABLE_MIN = 40
 
 class MPC_COST_LAT:
   PATH = 1.0
@@ -66,3 +72,21 @@ def learn_angle_offset(lateral_control, v_ego, angle_offset, c_poly, c_prob, ang
     angle_offset = clip(angle_offset, min_offset, max_offset)
 
   return angle_offset
+
+
+def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
+  # handle button presses. TODO: this should be in state_control, but a decelCruise press
+  # would have the effect of both enabling and changing speed is checked after the state transition
+  for b in buttonEvents:
+    if enabled and not b.pressed:
+      if b.type == "accelCruise":
+        v_cruise_kph += V_CRUISE_DELTA - (v_cruise_kph % V_CRUISE_DELTA)
+      elif b.type == "decelCruise":
+        v_cruise_kph -= V_CRUISE_DELTA - ((V_CRUISE_DELTA - v_cruise_kph) % V_CRUISE_DELTA)
+      v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
+
+  return v_cruise_kph
+
+
+def initialize_v_cruise(v_ego):
+  return int(round(max(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN)))

selfdrive/orbd/orbd.cc

@@ -36,17 +36,19 @@ int main(int argc, char *argv[]) {
 
 #ifdef DSP
   char my_path[PATH_MAX+1];
-  readlink("/proc/self/exe", my_path, PATH_MAX);
-  my_path[strlen(my_path)-4] = '\0';
-  LOGW("running from %s", my_path);
+  ssize_t len = readlink("/proc/self/exe", my_path, sizeof(my_path));
+  assert(len > 5);
+  my_path[len-5] = '\0';
+  LOGW("running from %s with PATH_MAX %d", my_path, PATH_MAX);
 
   char adsp_path[PATH_MAX+1];
-  snprintf(adsp_path, PATH_MAX, "ADSP_LIBRARY_PATH=%s/dsp/gen;/dsp;/system/lib/rfsa/adsp;/system/vendor/lib/rfsa/adsp", my_path);
-  putenv(adsp_path);
+  snprintf(adsp_path, PATH_MAX, "ADSP_LIBRARY_PATH=%s/dsp/gen", my_path);
+  assert(putenv(adsp_path) == 0);
 
   uint32_t test_leet = 0; 
   assert(calculator_init(&test_leet) == 0);
   assert(test_leet == 0x1337);
+  LOGW("orbd init complete");
 #else
   init_gpyrs();
 #endif

selfdrive/test/plant/plant.py

@@ -90,7 +90,6 @@ class Plant(object):
 
   def __init__(self, lead_relevancy=False, rate=100, speed=0.0, distance_lead=2.0):
     self.rate = rate
-    self.brake_only = False
 
     if not Plant.messaging_initialized:
       context = zmq.Context()