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enable E261 in flake8: two spaces before inline comment

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pull/1613/head
Adeeb Shihadeh 5 years ago
parent 02c130731c
commit 27754a277c
61 changed files with 165 additions and 165 deletions
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  1. 2
      .pre-commit-config.yaml
  2. 2
      cereal
  3. 8
      common/android.py
  4. 2
      common/transformations/model.py
  5. 2
      external/simpleperf/utils.py
  6. 2
      laika_repo
  7. 2
      opendbc
  8. 2
      panda
  9. 2
      release/remote_build.py
  10. 2
      selfdrive/boardd/tests/replay_many.py
  11. 6
      selfdrive/boardd/tests/test_boardd_loopback.py
  12. 2
      selfdrive/car/chrysler/carstate.py
  13. 4
      selfdrive/car/chrysler/interface.py
  14. 4
      selfdrive/car/fw_versions.py
  15. 2
      selfdrive/car/gm/carcontroller.py
  16. 2
      selfdrive/car/gm/gmcan.py
  17. 12
      selfdrive/car/gm/interface.py
  18. 2
      selfdrive/car/gm/radar_interface.py
  19. 4
      selfdrive/car/honda/carstate.py
  20. 36
      selfdrive/car/honda/interface.py
  21. 6
      selfdrive/car/hyundai/carstate.py
  22. 2
      selfdrive/car/hyundai/values.py
  23. 2
      selfdrive/car/interfaces.py
  24. 4
      selfdrive/car/mock/interface.py
  25. 2
      selfdrive/car/nissan/interface.py
  26. 2
      selfdrive/car/toyota/carcontroller.py
  27. 6
      selfdrive/car/toyota/interface.py
  28. 6
      selfdrive/car/volkswagen/carstate.py
  29. 2
      selfdrive/car/volkswagen/volkswagencan.py
  30. 30
      selfdrive/controls/lib/driver_monitor.py
  31. 4
      selfdrive/controls/lib/pid.py
  32. 2
      selfdrive/controls/lib/planner.py
  33. 2
      selfdrive/controls/lib/speed_smoother.py
  34. 4
      selfdrive/controls/tests/test_events.py
  35. 12
      selfdrive/controls/tests/test_monitoring.py
  36. 2
      selfdrive/debug/internal/design_lqr.py
  37. 2
      selfdrive/debug/internal/power_monitor.py
  38. 4
      selfdrive/locationd/calibration_helpers.py
  39. 2
      selfdrive/locationd/test/test_params_learner.py
  40. 20
      selfdrive/locationd/test/ubloxd.py
  41. 2
      selfdrive/loggerd/uploader.py
  42. 2
      selfdrive/manager.py
  43. 6
      selfdrive/modeld/runners/keras_runner.py
  44. 2
      selfdrive/modeld/visiontest.py
  45. 4
      selfdrive/test/longitudinal_maneuvers/plant.py
  46. 2
      selfdrive/test/process_replay/test_processes.py
  47. 2
      selfdrive/test/test_car_models.py
  48. 2
      selfdrive/test/update_ci_routes.py
  49. 6
      tools/carcontrols/joystick_test.py
  50. 4
      tools/carcontrols/joystickd.py
  51. 2
      tools/lib/framereader.py
  52. 2
      tools/lib/kbhit.py
  53. 2
      tools/replay/camera.py
  54. 2
      tools/replay/sensorium.py
  55. 2
      tools/replay/ui.py
  56. 16
      tools/replay/unlogger.py
  57. 4
      tools/sim/bridge.py
  58. 6
      tools/sim/lib/helpers.py
  59. 36
      tools/sim/lib/manual_ctrl.py
  60. 4
      tools/webcam/front_mount_helper.py
  61. 6
      tools/webcam/warp_vis.py

2
.pre-commit-config.yaml
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@ -17,7 +17,7 @@ repos:
- id: flake8
exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
args:
- --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E241,E251,E261,E265,E266,E302,E303,E305,E402,E501,E502,E722,E741,W504
- --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E241,E251,E265,E266,E302,E303,E305,E402,E501,E502,E722,E741,W504
- --statistics
- repo: local
hooks:

2
cereal

@ -1 +1 @@
Subproject commit 0adfc7e77efbf1ebc21bf2629a85d165b319b23e
Subproject commit 76eb23e062679058025369204f4e9a81ea7d479b

8
common/android.py
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@ -47,10 +47,10 @@ def reboot(reason=None):
reason_args = ["s16", reason]
subprocess.check_output([
"service", "call", "power", "16", # IPowerManager.reboot
"i32", "0", # no confirmation,
"service", "call", "power", "16", # IPowerManager.reboot
"i32", "0", # no confirmation,
*reason_args,
"i32", "1" # wait
"i32", "1" # wait
])
def service_call(call):
@ -71,7 +71,7 @@ def parse_service_call_unpack(r, fmt):
def parse_service_call_string(r):
try:
r = r[8:] # Cut off length field
r = r[8:] # Cut off length field
r = r.decode('utf_16_be')
# All pairs of two characters seem to be swapped. Not sure why

2
common/transformations/model.py
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@ -100,7 +100,7 @@ def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model
# This function is super slow, so skip it if height is very close to canonical
# TODO: speed it up!
if abs(height - model_height) > 0.001: #
if abs(height - model_height) > 0.001:
camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
else:
camera_from_model_camera = np.eye(3)

2
external/simpleperf/utils.py vendored
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@ -101,7 +101,7 @@ def get_host_binary_path(binary_name):
elif '.' not in binary_name:
binary_name += '.exe'
dir = os.path.join(dir, 'windows')
elif sys.platform == 'darwin': # OSX
elif sys.platform == 'darwin': # OSX
if binary_name.endswith('.so'):
binary_name = binary_name[0:-3] + '.dylib'
dir = os.path.join(dir, 'darwin')

2
laika_repo

@ -1 +1 @@
Subproject commit 90b4c98502ade83df62fb215ee44375eee46b3d5
Subproject commit d0872aa16155e8f73961d52952c8cef41d5702d4

2
opendbc

@ -1 +1 @@
Subproject commit e92e74311a7ed66922629bec4b8cee7c8db1b9f0
Subproject commit 4c59163aa31b58436fad2f8cbadeacd564887276

2
panda

@ -1 +1 @@
Subproject commit 49ffbe99f65e64d23d27d9d3e37f68bc2368dccd
Subproject commit 9102c16118171597abf6cb7b9dee99b557f7eee7

2
release/remote_build.py
Unescape View File

@ -1,5 +1,5 @@
#!/usr/bin/env python2
import paramiko # pylint: disable=import-error
import paramiko # pylint: disable=import-error
import os
import sys
import re

2
selfdrive/boardd/tests/replay_many.py
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@ -10,7 +10,7 @@ from multiprocessing import Pool
jungle = "JUNGLE" in os.environ
if jungle:
from panda_jungle import PandaJungle # pylint: disable=import-error
from panda_jungle import PandaJungle # pylint: disable=import-error
import cereal.messaging as messaging
from selfdrive.boardd.boardd import can_capnp_to_can_list

6
selfdrive/boardd/tests/test_boardd_loopback.py
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@ -14,9 +14,9 @@ def get_test_string():
BUS = 0
def main():
rcv = sub_sock('can') # port 8006
snd = pub_sock('sendcan') # port 8017
time.sleep(0.3) # wait to bind before send/recv
rcv = sub_sock('can') # port 8006
snd = pub_sock('sendcan') # port 8017
time.sleep(0.3) # wait to bind before send/recv
for i in range(10):
print("Loop %d" % i)

2
selfdrive/car/chrysler/carstate.py
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@ -24,7 +24,7 @@ class CarState(CarStateBase):
cp.vl["DOORS"]['DOOR_OPEN_RR']])
ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 1
ret.brakePressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
ret.brakePressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
ret.brake = 0
ret.brakeLights = ret.brakePressed
ret.gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']

4
selfdrive/car/chrysler/interface.py
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@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.mass = 2858. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@ -88,7 +88,7 @@ class CarInterface(CarInterfaceBase):
def apply(self, c):
if (self.CS.frame == -1):
return [] # if we haven't seen a frame 220, then do not update.
return [] # if we haven't seen a frame 220, then do not update.
can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)

4
selfdrive/car/fw_versions.py
Unescape View File

@ -42,9 +42,9 @@ UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
HYUNDAI_VERSION_REQUEST_SHORT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf1a0) # 4 Byte version number
p16(0xf1a0) # 4 Byte version number
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf100) # Long description
p16(0xf100) # Long description
HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \

2
selfdrive/car/gm/carcontroller.py
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@ -20,7 +20,7 @@ class CarControllerParams():
self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 100 # from dbc
self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop
self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop
# Takes case of "Service Adaptive Cruise" and "Service Front Camera"
# dashboard messages.

2
selfdrive/car/gm/gmcan.py
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@ -68,7 +68,7 @@ def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lea
"ACCAlwaysOne" : 1,
"ACCResumeButton" : 0,
"ACCSpeedSetpoint" : target_speed,
"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
"ACCCmdActive" : acc_engaged,
"ACCAlwaysOne2" : 1,
"ACCLeadCar" : lead_car_in_sight,

12
selfdrive/car/gm/interface.py
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@ -47,7 +47,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
@ -56,7 +56,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
@ -68,7 +68,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
@ -77,11 +77,11 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
@ -135,7 +135,7 @@ class CarInterface(CarInterfaceBase):
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
if not (ret.cruiseState.enabled and ret.standstill):
be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
elif but == CruiseButtons.DECEL_SET:
be.type = ButtonType.decelCruise
elif but == CruiseButtons.CANCEL:

2
selfdrive/car/gm/radar_interface.py
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@ -95,7 +95,7 @@ class RadarInterface(RadarInterfaceBase):
self.pts[targetId] = car.RadarData.RadarPoint.new_message()
self.pts[targetId].trackId = targetId
distance = cpt['TrkRange']
self.pts[targetId].dRel = distance # from front of car
self.pts[targetId].dRel = distance # from front of car
# From driver's pov, left is positive
self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
self.pts[targetId].vRel = cpt['TrkRangeRate']

4
selfdrive/car/honda/carstate.py
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@ -179,7 +179,7 @@ class CarState(CarStateBase):
self.prev_cruise_setting = self.cruise_setting
# ******************* parse out can *******************
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT): # TODO: find wheels moving bit in dbc
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT): # TODO: find wheels moving bit in dbc
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@ -252,7 +252,7 @@ class CarState(CarStateBase):
# TODO: Replace tests by toyota so this can go away
if self.CP.enableGasInterceptor:
self.user_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
self.user_gas_pressed = self.user_gas > 1e-5 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
self.user_gas_pressed = self.user_gas > 1e-5 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
ret.gasPressed = self.user_gas_pressed
else:
ret.gasPressed = self.pedal_gas > 1e-5

36
selfdrive/car/honda/interface.py
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@ -87,7 +87,7 @@ class CarInterface(CarInterfaceBase):
# normalized max accel. Allowing max accel at low speed causes speed overshoots
max_accel_bp = [10, 20] # m/s
max_accel_v = [0.714, 1.0] # unit of max accel
max_accel_v = [0.714, 1.0] # unit of max accel
max_accel = interp(v_ego, max_accel_bp, max_accel_v)
# limit the pcm accel cmd if:
@ -144,7 +144,7 @@ class CarInterface(CarInterfaceBase):
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
eps_modified = False
for fw in car_fw:
@ -182,7 +182,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -192,13 +192,13 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.8467
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
@ -216,7 +216,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -230,7 +230,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -263,11 +263,11 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -281,7 +281,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -309,7 +309,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -323,7 +323,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -337,7 +337,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -347,11 +347,11 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
stop_and_go = False
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 17.25 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -365,7 +365,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -379,7 +379,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -406,7 +406,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor=tire_stiffness_factor)
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor 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

6
selfdrive/car/hyundai/carstate.py
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@ -85,7 +85,7 @@ class CarState(CarStateBase):
# Gear Selecton - This is only compatible with optima hybrid 2017
elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
if gear in (5, 8): # 5: D, 8: sport mode
if gear in (5, 8): # 5: D, 8: sport mode
ret.gearShifter = GearShifter.drive
elif gear == 6:
ret.gearShifter = GearShifter.neutral
@ -98,7 +98,7 @@ class CarState(CarStateBase):
# Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
else:
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
if gear in (5, 8): # 5: D, 8: sport mode
if gear in (5, 8): # 5: D, 8: sport mode
ret.gearShifter = GearShifter.drive
elif gear == 6:
ret.gearShifter = GearShifter.neutral
@ -113,7 +113,7 @@ class CarState(CarStateBase):
self.lkas11 = cp_cam.vl["LKAS11"]
self.clu11 = cp.vl["CLU11"]
self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] # 0 NOT ACTIVE, 1 ACTIVE
self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] # 0 NOT ACTIVE, 1 ACTIVE
self.lead_distance = cp.vl["SCC11"]['ACC_ObjDist']
return ret

2
selfdrive/car/hyundai/values.py
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@ -150,7 +150,7 @@ CHECKSUM = {
FEATURES = {
"use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30], # Use Cluster for Gear Selection, rather than Transmission
"use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019], # Use TCU Message for Gear Selection
"use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.KONA_EV], # Use TCU Message for Gear Selection
"use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.KONA_EV], # Use TCU Message for Gear Selection
}
DBC = {

2
selfdrive/car/interfaces.py
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@ -11,7 +11,7 @@ from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
GearShifter = car.CarState.GearShifter
EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 144 + 4 = 92 mph
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 144 + 4 = 92 mph
# generic car and radar interfaces

4
selfdrive/car/mock/interface.py
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@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
# mocked car interface to work with chffrplus
TS = 0.01 # 100Hz
YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter
YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter
# low pass gain
LPG = 2 * 3.1415 * YAW_FR * TS / (1 + 2 * 3.1415 * YAW_FR * TS)
@ -41,7 +41,7 @@ class CarInterface(CarInterfaceBase):
ret.rotationalInertia = 2500.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. # reasonable
ret.steerRatio = 13. # reasonable
ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
ret.tireStiffnessRear = 1e6 # very stiff to neglect slip

2
selfdrive/car/nissan/interface.py
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@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.0], [0.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
if candidate in [CAR.ROGUE, CAR.XTRAIL]:

2
selfdrive/car/toyota/carcontroller.py
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@ -12,7 +12,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
# Accel limits
ACCEL_HYST_GAP = 0.02 # don't change accel command for small oscilalitons within this value
ACCEL_MAX = 1.5 # 1.5 m/s2
ACCEL_MIN = -3.0 # 3 m/s2
ACCEL_MIN = -3.0 # 3 m/s2
ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
def accel_hysteresis(accel, accel_steady, enabled):

6
selfdrive/car/toyota/interface.py
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@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@ -207,7 +207,7 @@ class CarInterface(CarInterfaceBase):
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
@ -248,7 +248,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00006

6
selfdrive/car/volkswagen/carstate.py
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@ -37,7 +37,7 @@ class CarState(CarStateBase):
# Update gas, brakes, and gearshift.
ret.gas = pt_cp.vl["Motor_20"]['MO_Fahrpedalrohwert_01'] / 100.0
ret.gasPressed = ret.gas > 0
ret.brake = pt_cp.vl["ESP_05"]['ESP_Bremsdruck'] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brake = pt_cp.vl["ESP_05"]['ESP_Bremsdruck'] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brakePressed = bool(pt_cp.vl["ESP_05"]['ESP_Fahrer_bremst'])
ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
@ -107,7 +107,7 @@ class CarState(CarStateBase):
self.steeringFault = not pt_cp.vl["EPS_01"]["HCA_Ready"]
# Additional safety checks performed in CarInterface.
self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
ret.espDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv'] != 0
return ret
@ -159,7 +159,7 @@ class CarState(CarStateBase):
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type

2
selfdrive/car/volkswagen/volkswagencan.py
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@ -25,7 +25,7 @@ def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert
rightlanehud = 2 if rightLaneVisible else 1
values = {
"LDW_Unknown": 2, # FIXME: possible speed or attention relationship
"LDW_Unknown": 2, # FIXME: possible speed or attention relationship
"Kombi_Lamp_Orange": 1 if hca_enabled and steering_pressed else 0,
"Kombi_Lamp_Green": 1 if hca_enabled and not steering_pressed else 0,
"Left_Lane_Status": leftlanehud,

30
selfdrive/controls/lib/driver_monitor.py
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@ -23,31 +23,31 @@ _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
_FACE_THRESHOLD = 0.4
_EYE_THRESHOLD = 0.6
_BLINK_THRESHOLD = 0.5 # 0.225
_BLINK_THRESHOLD = 0.5 # 0.225
_BLINK_THRESHOLD_SLACK = 0.65
_BLINK_THRESHOLD_STRICT = 0.5
_PITCH_WEIGHT = 1.35 # 1.5 # pitch matters a lot more
_PITCH_WEIGHT = 1.35 # 1.5 # pitch matters a lot more
_POSESTD_THRESHOLD = 0.14
_METRIC_THRESHOLD = 0.4
_METRIC_THRESHOLD_SLACK = 0.55
_METRIC_THRESHOLD_STRICT = 0.4
_PITCH_POS_ALLOWANCE = 0.12 # rad, to not be too sensitive on positive pitch
_PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
_PITCH_POS_ALLOWANCE = 0.12 # rad, to not be too sensitive on positive pitch
_PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
_HI_STD_TIMEOUT = 5
_HI_STD_FALLBACK_TIME = 10 # fall back to wheel touch if model is uncertain for a long time
_HI_STD_FALLBACK_TIME = 10 # fall back to wheel touch if model is uncertain for a long time
_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
_POSE_CALIB_MIN_SPEED = 13 # 30 mph
_POSE_OFFSET_MIN_COUNT = 600 # valid data counts before calibration completes, 1 seg is 600 counts
_POSE_OFFSET_MAX_COUNT = 3600 # stop deweighting new data after 6 min, aka "short term memory"
_POSE_CALIB_MIN_SPEED = 13 # 30 mph
_POSE_OFFSET_MIN_COUNT = 600 # valid data counts before calibration completes, 1 seg is 600 counts
_POSE_OFFSET_MAX_COUNT = 3600 # stop deweighting new data after 6 min, aka "short term memory"
_RECOVERY_FACTOR_MAX = 5. # relative to minus step change
_RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
_RECOVERY_FACTOR_MAX = 5. # relative to minus step change
_RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
MAX_TERMINAL_DURATION = 300 # 30s
MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
MAX_TERMINAL_DURATION = 300 # 30s
# model output refers to center of cropped image, so need to apply the x displacement offset
RESIZED_FOCAL = 320.0
@ -76,7 +76,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd):
# no calib for roll
pitch -= rpy_calib[1]
yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) # lhd -> -=, rhd -> +=
yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) # lhd -> -=, rhd -> +=
return roll, pitch, yaw
class DriverPose():
@ -128,7 +128,7 @@ class DriverStatus():
self.step_change = DT_DMON / _DISTRACTED_TIME
else:
self.step_change = 0.
return # no exploit after orange alert
return # no exploit after orange alert
elif self.awareness <= 0.:
return

4
selfdrive/controls/lib/pid.py
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@ -12,8 +12,8 @@ def apply_deadzone(error, deadzone):
class PIController():
def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8, convert=None):
self._k_p = k_p # proportional gain
self._k_i = k_i # integral gain
self._k_p = k_p # proportional gain
self._k_i = k_i # integral gain
self.k_f = k_f # feedforward gain
self.pos_limit = pos_limit

2
selfdrive/controls/lib/planner.py
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@ -147,7 +147,7 @@ class Planner():
a_y_max = 2.975 - v_ego * 0.0375 # ~1.85 @ 75mph, ~2.6 @ 25mph
v_curvature = np.sqrt(a_y_max / np.clip(np.abs(curv), 1e-4, None))
model_speed = np.min(v_curvature)
model_speed = max(20.0 * CV.MPH_TO_MS, model_speed) # Don't slow down below 20mph
model_speed = max(20.0 * CV.MPH_TO_MS, model_speed) # Don't slow down below 20mph
else:
model_speed = MAX_SPEED

2
selfdrive/controls/lib/speed_smoother.py
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@ -67,7 +67,7 @@ def speed_smoother(vEgo, aEgo, vT, aMax, aMin, jMax, jMin, ts):
if aPeak > aMax:
aPeak = aMax
t1 = (aPeak - aEgo) / jMax
if aPeak <= 0: # there is no solution, so stop after t1
if aPeak <= 0: # there is no solution, so stop after t1
t2 = t1 + ts + 1e-9
t3 = t2
else:

4
selfdrive/controls/tests/test_events.py
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@ -27,9 +27,9 @@ class TestAlerts(unittest.TestCase):
bold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
semibold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
max_text_width = 1920 - 300 # full screen width is useable, minus sidebar
max_text_width = 1920 - 300 # full screen width is useable, minus sidebar
# TODO: get exact scale factor. found this empirically, works well enough
font_scale_factor = 1.85 # factor to scale from nanovg units to PIL
font_scale_factor = 1.85 # factor to scale from nanovg units to PIL
draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))

12
selfdrive/controls/tests/test_monitoring.py
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@ -11,7 +11,7 @@ from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALE
EventName = car.CarEvent.EventName
_TEST_TIMESPAN = 120 # seconds
_TEST_TIMESPAN = 120 # seconds
_DISTRACTED_SECONDS_TO_ORANGE = _DISTRACTED_TIME - _DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
_DISTRACTED_SECONDS_TO_RED = _DISTRACTED_TIME + 1
_INVISIBLE_SECONDS_TO_ORANGE = _AWARENESS_TIME - _AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
@ -121,7 +121,7 @@ class TestMonitoring(unittest.TestCase):
# driver dodges, and then touches wheel to no avail, disengages and reengages
# - orange/red alert should remain after disappearance, and only disengaging clears red
def test_biggest_comma_fan(self):
_invisible_time = 2 # seconds
_invisible_time = 2 # seconds
ds_vector = always_distracted[:]
interaction_vector = always_false[:]
op_vector = always_true[:]
@ -138,7 +138,7 @@ class TestMonitoring(unittest.TestCase):
# 5. op engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
# - both actions should clear the alert, but momentary appearence should not
def test_sometimes_transparent_commuter(self):
_visible_time = np.random.choice([1, 10]) # seconds
_visible_time = np.random.choice([1, 10]) # seconds
# print _visible_time
ds_vector = always_no_face[:]*2
interaction_vector = always_false[:]*2
@ -160,7 +160,7 @@ class TestMonitoring(unittest.TestCase):
# 6. op engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
# - only disengage will clear the alert
def test_last_second_responder(self):
_visible_time = 2 # seconds
_visible_time = 2 # seconds
ds_vector = always_no_face[:]
interaction_vector = always_false[:]
op_vector = always_true[:]
@ -184,7 +184,7 @@ class TestMonitoring(unittest.TestCase):
# 8. op engaged, car stops at traffic light, down to orange, no action, then car starts moving
# - should only reach green when stopped, but continues counting down on launch
def test_long_traffic_light_victim(self):
_redlight_time = 60 # seconds
_redlight_time = 60 # seconds
standstill_vector = always_true[:]
standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((_TEST_TIMESPAN-_redlight_time)/DT_DMON)
events_output = run_DState_seq(always_distracted, always_false, always_true, standstill_vector)[0]
@ -217,7 +217,7 @@ class TestMonitoring(unittest.TestCase):
self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.preDriverDistracted)
self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.promptDriverDistracted)
self.assertEqual(events_output[int((_DISTRACTED_TIME+1)/DT_DMON)].names[1], EventName.promptDriverDistracted)
self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)].names[1], EventName.promptDriverDistracted) # set_timer blocked
self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)].names[1], EventName.promptDriverDistracted) # set_timer blocked
if __name__ == "__main__":
print('MAX_TERMINAL_ALERTS', MAX_TERMINAL_ALERTS)

2
selfdrive/debug/internal/design_lqr.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3
import numpy as np
import control # pylint: disable=import-error
import control # pylint: disable=import-error
dt = 0.01
A = np.array([[ 0. , 1. ], [-0.78823806, 1.78060701]])

2
selfdrive/debug/internal/power_monitor.py
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@ -17,7 +17,7 @@ if __name__ == '__main__':
print("disabling charging")
os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
voltage_average = (0., 0) # average, count
voltage_average = (0., 0) # average, count
current_average = (0., 0)
power_average = (0., 0)
capacity_average = (0., 0)

4
selfdrive/locationd/calibration_helpers.py
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@ -1,8 +1,8 @@
import math
class Filter:
MIN_SPEED = 7 # m/s (~15.5mph)
MAX_YAW_RATE = math.radians(3) # per second
MIN_SPEED = 7 # m/s (~15.5mph)
MAX_YAW_RATE = math.radians(3) # per second
class Calibration:
UNCALIBRATED = 0

2
selfdrive/locationd/test/test_params_learner.py
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@ -6,7 +6,7 @@ import unittest
from selfdrive.car.honda.interface import CarInterface
from selfdrive.car.honda.values import CAR
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.locationd.liblocationd_py import liblocationd # pylint: disable=no-name-in-module, import-error
from selfdrive.locationd.liblocationd_py import liblocationd # pylint: disable=no-name-in-module, import-error
class TestParamsLearner(unittest.TestCase):

20
selfdrive/locationd/test/ubloxd.py
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@ -19,10 +19,10 @@ debug = os.getenv("DEBUG") is not None # debug prints
print_dB = os.getenv("PRINT_DB") is not None # print antenna dB
timeout = 1
dyn_model = 4 # auto model
dyn_model = 4 # auto model
baudrate = 460800
ports = ["/dev/ttyACM0", "/dev/ttyACM1"]
rate = 100 # send new data every 100ms
rate = 100 # send new data every 100ms
# which SV IDs we have seen and when we got iono
svid_seen = {}
@ -32,17 +32,17 @@ iono_seen = 0
def configure_ublox(dev):
# configure ports and solution parameters and rate
# TODO: configure constellations and channels to allow for 10Hz and high precision
dev.configure_port(port=ublox.PORT_USB, inMask=1, outMask=1) # enable only UBX on USB
dev.configure_port(port=0, inMask=0, outMask=0) # disable DDC
dev.configure_port(port=ublox.PORT_USB, inMask=1, outMask=1) # enable only UBX on USB
dev.configure_port(port=0, inMask=0, outMask=0) # disable DDC
if panda:
payload = struct.pack('<BBHIIHHHBB', 1, 0, 0, 2240, baudrate, 1, 1, 0, 0, 0)
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload) # enable UART
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload) # enable UART
else:
payload = struct.pack('<BBHIIHHHBB', 1, 0, 0, 2240, baudrate, 0, 0, 0, 0, 0)
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload) # disable UART
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload) # disable UART
dev.configure_port(port=4, inMask=0, outMask=0) # disable SPI
dev.configure_port(port=4, inMask=0, outMask=0) # disable SPI
dev.configure_poll_port()
dev.configure_poll_port(ublox.PORT_SERIAL1)
dev.configure_poll_port(ublox.PORT_SERIAL2)
@ -128,7 +128,7 @@ def gen_ephemeris(ephem_data):
def gen_solution(msg):
msg_data = msg.unpack()[0] # Solutions do not have any data in repeated blocks
msg_data = msg.unpack()[0] # Solutions do not have any data in repeated blocks
timestamp = int(((datetime.datetime(msg_data['year'],
msg_data['month'],
msg_data['day'],
@ -204,9 +204,9 @@ def gen_raw(msg):
'glonassFrequencyIndex': m['freqId'],
'locktime': m['locktime'],
'cno': m['cno'],
'pseudorangeStdev': 0.01*(2**(m['prStdev'] & 15)), # weird scaling, might be wrong
'pseudorangeStdev': 0.01*(2**(m['prStdev'] & 15)), # weird scaling, might be wrong
'carrierPhaseStdev': 0.004*(m['cpStdev'] & 15),
'dopplerStdev': 0.002*(2**(m['doStdev'] & 15)), # weird scaling, might be wrong
'dopplerStdev': 0.002*(2**(m['doStdev'] & 15)), # weird scaling, might be wrong
'trackingStatus': trackingStatus})
if print_dB:
cnos = {}

2
selfdrive/loggerd/uploader.py
Unescape View File

@ -134,7 +134,7 @@ class Uploader():
is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME)
except OSError:
cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn)
is_uploaded = True # deleter could have deleted
is_uploaded = True # deleter could have deleted
if is_uploaded:
continue

2
selfdrive/manager.py
Unescape View File

@ -36,7 +36,7 @@ if ANDROID:
def unblock_stdout():
# get a non-blocking stdout
child_pid, child_pty = os.forkpty()
if child_pid != 0: # parent
if child_pid != 0: # parent
# child is in its own process group, manually pass kill signals
signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))

6
selfdrive/modeld/runners/keras_runner.py
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@ -5,10 +5,10 @@ from __future__ import print_function
import tensorflow as tf # pylint: disable=import-error
import os
import sys
import tensorflow.keras as keras # pylint: disable=import-error
import tensorflow.keras as keras # pylint: disable=import-error
import numpy as np
from tensorflow.keras.models import Model # pylint: disable=import-error
from tensorflow.keras.models import load_model # pylint: disable=import-error
from tensorflow.keras.models import Model # pylint: disable=import-error
from tensorflow.keras.models import load_model # pylint: disable=import-error
def read(sz):
dd = []

2
selfdrive/modeld/visiontest.py
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@ -64,7 +64,7 @@ class VisionTest():
raise ValueError("Bad model name: {}".format(model))
prevdir = os.getcwd()
os.chdir(_visiond_dir) # tmp hack to find kernels
os.chdir(_visiond_dir) # tmp hack to find kernels
os.environ['BASEDIR'] = BASEDIR
self._visiontest_c = self.clib.visiontest_create(
temporal_model, disable_model, self._input_size[0], self._input_size[1],

4
selfdrive/test/longitudinal_maneuvers/plant.py
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@ -60,9 +60,9 @@ def car_plant(pos, speed, grade, gas, brake):
#*** longitudinal model ***
# find speed where peak torque meets peak power
force_brake = brake * force_brake_peak * brake_to_peak_linear_slope
if speed < speed_base: # torque control
if speed < speed_base: # torque control
force_gas = gas * force_peak * gas_to_peak_linear_slope
else: # power control
else: # power control
force_gas = gas * power_peak / speed * gas_to_peak_linear_slope
force_grade = - grade * mass # positive grade means uphill

2
selfdrive/test/process_replay/test_processes.py
Unescape View File

@ -21,7 +21,7 @@ segments = [
("HYUNDAI", "5b7c365c50084530|2020-04-15--16-13-24--3"), # HYUNDAI.SONATA
#("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"), # CHRYSLER.JEEP_CHEROKEE
("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"), # SUBARU.IMPREZA
("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"), # VW.GOLF
("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"), # VW.GOLF
("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"), # NISSAN.XTRAIL
# Enable when port is tested and dascamOnly is no longer set

2
selfdrive/test/test_car_models.py
Unescape View File

@ -343,7 +343,7 @@ routes = {
'enableDsu': False,
},
"1dd19ceed0ee2b48|2018-12-22--17-36-49": {
'carFingerprint': TOYOTA.LEXUS_IS, # 300 hybrid
'carFingerprint': TOYOTA.LEXUS_IS, # 300 hybrid
'enableCamera': True,
'enableDsu': False,
},

2
selfdrive/test/update_ci_routes.py
Unescape View File

@ -6,7 +6,7 @@ from azure.storage.blob import BlockBlobService
from selfdrive.test.test_car_models import routes as test_car_models_routes
from selfdrive.test.process_replay.test_processes import segments as replay_segments
from xx.chffr.lib import azureutil # pylint: disable=import-error
from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error
from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error
SOURCES = [
(_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION),

6
tools/carcontrols/joystick_test.py
Unescape View File

@ -53,9 +53,9 @@ textPrint = TextPrint()
# -------- Main Program Loop -----------
while not done:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
# Possible joystick actions: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTION
if event.type == pygame.JOYBUTTONDOWN:

4
tools/carcontrols/joystickd.py
Unescape View File

@ -30,8 +30,8 @@ def joystick_thread():
# -------- Main Program Loop -----------
while True:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
pass
# Available joystick events: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTION
if event.type == pygame.JOYBUTTONDOWN:

2
tools/lib/framereader.py
Unescape View File

@ -332,7 +332,7 @@ class VideoStreamDecompressor:
self.pix_fmt = pix_fmt
if pix_fmt == "yuv420p":
self.out_size = w*h*3//2 # yuv420p
self.out_size = w*h*3//2 # yuv420p
elif pix_fmt in ("rgb24", "yuv444p"):
self.out_size = w*h*3
else:

2
tools/lib/kbhit.py
Unescape View File

@ -72,7 +72,7 @@ if __name__ == "__main__":
if kb.kbhit():
c = kb.getch()
if ord(c) == 27: # ESC
if ord(c) == 27: # ESC
break
print(c)

2
tools/replay/camera.py
Unescape View File

@ -68,7 +68,7 @@ def ui_thread(addr, frame_address):
else:
# actually RGB
img = np.frombuffer(yuv_img, dtype=np.uint8).reshape((_FULL_FRAME_SIZE[1], _FULL_FRAME_SIZE[0], 3))
img = img[:, :, ::-1] # Convert BGR to RGB
img = img[:, :, ::-1] # Convert BGR to RGB
height, width = img.shape[:2]
img_resized = cv2.resize(

2
tools/replay/sensorium.py
Unescape View File

@ -31,7 +31,7 @@ if __name__ == "__main__":
sm.update(timeout=1)
rgb_img_raw = fpkt.frame.image
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape((FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3))
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
if sm.updated['liveCalibration']:
intrinsic_matrix = eon_intrinsics

2
tools/replay/ui.py
Unescape View File

@ -134,7 +134,7 @@ def ui_thread(addr, frame_address):
if rgb_img_raw and len(rgb_img_raw) == FULL_FRAME_SIZE[0] * FULL_FRAME_SIZE[1] * 3:
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape((FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3))
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
cv2.warpAffine(imgff, np.dot(img_transform, _BB_TO_FULL_FRAME)[:2],
(img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)

16
tools/replay/unlogger.py
Unescape View File

@ -110,7 +110,7 @@ class UnloggerWorker(object):
print("FRAME(%d) LAG -- %.2f ms" % (frame_id, fr_time*1000.0))
if img is not None:
img = img[:, :, ::-1] # Convert RGB to BGR, which is what the camera outputs
img = img[:, :, ::-1] # Convert RGB to BGR, which is what the camera outputs
img = img.flatten()
smsg.frame.image = img.tobytes()
@ -259,7 +259,7 @@ def unlogger_thread(command_address, forward_commands_address, data_address, run
msg_time_offset = msg_time_seconds - msg_start_time
real_time_offset = realtime.sec_since_boot() - real_start_time
lag = msg_time_offset - real_time_offset
if lag > 0 and lag < 30: # a large jump is OK, likely due to an out of order segment
if lag > 0 and lag < 30: # a large jump is OK, likely due to an out of order segment
if lag > 1:
print("sleeping for", lag)
time.sleep(lag)
@ -312,17 +312,17 @@ def keyboard_controller_thread(q, route_start_time):
kb = KBHit()
while 1:
c = kb.getch()
if c == 'm': # Move forward by 1m
if c == 'm': # Move forward by 1m
q.send_pyobj(SeekRelativeTime(60))
elif c == 'M': # Move backward by 1m
elif c == 'M': # Move backward by 1m
q.send_pyobj(SeekRelativeTime(-60))
elif c == 's': # Move forward by 10s
elif c == 's': # Move forward by 10s
q.send_pyobj(SeekRelativeTime(10))
elif c == 'S': # Move backward by 10s
elif c == 'S': # Move backward by 10s
q.send_pyobj(SeekRelativeTime(-10))
elif c == 'G': # Move backward by 10s
elif c == 'G': # Move backward by 10s
q.send_pyobj(SeekAbsoluteTime(0.))
elif c == "\x20": # Space bar.
elif c == "\x20": # Space bar.
q.send_pyobj(TogglePause())
elif c == "\n":
try:

4
tools/sim/bridge.py
Unescape View File

@ -169,7 +169,7 @@ def go(q):
m = message.split('_')
if m[0] == "steer":
steer_angle_out = float(m[1])
fake_wheel.set_angle(steer_angle_out) # touching the wheel overrides fake wheel angle
fake_wheel.set_angle(steer_angle_out) # touching the wheel overrides fake wheel angle
# print(" === steering overriden === ")
if m[0] == "throttle":
throttle_out = float(m[1]) / 100.
@ -200,7 +200,7 @@ def go(q):
speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) * 3.6
can_function(pm, speed, fake_wheel.angle, rk.frame, cruise_button=cruise_button, is_engaged=is_openpilot_engaged)
if rk.frame % 1 == 0: # 20Hz?
if rk.frame % 1 == 0: # 20Hz?
throttle_op, brake_op, steer_torque_op = sendcan_function(sendcan)
# print(" === torq, ",steer_torque_op, " ===")
if is_openpilot_engaged:

6
tools/sim/lib/helpers.py
Unescape View File

@ -1,7 +1,7 @@
class FakeSteeringWheel():
def __init__(self, dt=0.01):
# physical params
self.DAC = 4. / 0.625 # convert torque value from can to Nm
self.DAC = 4. / 0.625 # convert torque value from can to Nm
self.k = 0.035
self.centering_k = 4.1 * 0.9
self.b = 0.1 * 0.8
@ -9,7 +9,7 @@ class FakeSteeringWheel():
self.dt = dt
# ...
self.angle = 0. # start centered
self.angle = 0. # start centered
# self.omega = 0.
def response(self, torque, vego=0):
@ -19,7 +19,7 @@ class FakeSteeringWheel():
# self.omega += self.dt * (exerted_torque + centering_torque + damping_torque) / self.I
# self.omega = np.clip(self.omega, -1.1, 1.1)
# self.angle += self.dt * self.omega
self.angle += self.dt * self.k * exerted_torque # aristotle
self.angle += self.dt * self.k * exerted_torque # aristotle
# print(" ========== ")
# print("angle,", self.angle)

36
tools/sim/lib/manual_ctrl.py
Unescape View File

@ -99,22 +99,22 @@ def wheel_poll_thread(q):
# Get the device name.
#buf = bytearray(63)
buf = array.array('B', [0] * 64)
ioctl(jsdev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len)
ioctl(jsdev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len)
js_name = buf.tobytes().rstrip(b'\x00').decode('utf-8')
print('Device name: %s' % js_name)
# Get number of axes and buttons.
buf = array.array('B', [0])
ioctl(jsdev, 0x80016a11, buf) # JSIOCGAXES
ioctl(jsdev, 0x80016a11, buf) # JSIOCGAXES
num_axes = buf[0]
buf = array.array('B', [0])
ioctl(jsdev, 0x80016a12, buf) # JSIOCGBUTTONS
ioctl(jsdev, 0x80016a12, buf) # JSIOCGBUTTONS
num_buttons = buf[0]
# Get the axis map.
buf = array.array('B', [0] * 0x40)
ioctl(jsdev, 0x80406a32, buf) # JSIOCGAXMAP
ioctl(jsdev, 0x80406a32, buf) # JSIOCGAXMAP
for axis in buf[:num_axes]:
axis_name = axis_names.get(axis, 'unknown(0x%02x)' % axis)
@ -123,7 +123,7 @@ def wheel_poll_thread(q):
# Get the button map.
buf = array.array('H', [0] * 200)
ioctl(jsdev, 0x80406a34, buf) # JSIOCGBTNMAP
ioctl(jsdev, 0x80406a34, buf) # JSIOCGBTNMAP
for btn in buf[:num_buttons]:
btn_name = button_names.get(btn, 'unknown(0x%03x)' % btn)
@ -145,42 +145,42 @@ def wheel_poll_thread(q):
evbuf = jsdev.read(8)
time, value, mtype, number = struct.unpack('IhBB', evbuf)
# print(mtype, number, value)
if mtype & 0x02: # wheel & paddles
if mtype & 0x02: # wheel & paddles
axis = axis_map[number]
if axis == "z": # gas
if axis == "z": # gas
fvalue = value / 32767.0
axis_states[axis] = fvalue
normalized = (1 - fvalue) * 50
q.put(str("throttle_%f" % normalized))
if axis == "rz": # brake
if axis == "rz": # brake
fvalue = value / 32767.0
axis_states[axis] = fvalue
normalized = (1 - fvalue) * 50
q.put(str("brake_%f" % normalized))
if axis == "x": # steer angle
if axis == "x": # steer angle
fvalue = value / 32767.0
axis_states[axis] = fvalue
normalized = fvalue
q.put(str("steer_%f" % normalized))
if mtype & 0x01: # buttons
if number in [0, 19]: # X
if value == 1: # press down
if mtype & 0x01: # buttons
if number in [0, 19]: # X
if value == 1: # press down
q.put(str("cruise_down"))
if number in [3, 18]: # triangle
if value == 1: # press down
if number in [3, 18]: # triangle
if value == 1: # press down
q.put(str("cruise_up"))
if number in [1, 6]: # square
if value == 1: # press down
if number in [1, 6]: # square
if value == 1: # press down
q.put(str("cruise_cancel"))
if number in [10, 21]: # R3
if value == 1: # press down
if number in [10, 21]: # R3
if value == 1: # press down
q.put(str("reverse_switch"))
if __name__ == '__main__':

4
tools/webcam/front_mount_helper.py
Unescape View File

@ -2,8 +2,8 @@
import numpy as np
# copied from common.transformations/camera.py
eon_dcam_focal_length = 860.0 # pixels
webcam_focal_length = 908.0 # pixels
eon_dcam_focal_length = 860.0 # pixels
webcam_focal_length = 908.0 # pixels
eon_dcam_intrinsics = np.array([
[eon_dcam_focal_length, 0, 1152/2.],

6
tools/webcam/warp_vis.py
Unescape View File

@ -2,10 +2,10 @@
import numpy as np
# copied from common.transformations/camera.py
eon_focal_length = 910.0 # pixels
eon_dcam_focal_length = 860.0 # pixels
eon_focal_length = 910.0 # pixels
eon_dcam_focal_length = 860.0 # pixels
webcam_focal_length = -908.0/1.5 # pixels
webcam_focal_length = -908.0/1.5 # pixels
eon_intrinsics = np.array([
[eon_focal_length, 0., 1164/2.],

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