Merge remote-tracking branch 'upstream/master' into no-capnp-cars-simple

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/pull_request_template.md

@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.importlinter

@@ -29,10 +29,6 @@ forbidden_modules =
     openpilot.tinygrad
 ignore_imports =
     # remove these
-    openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
-    openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
-    openpilot.selfdrive.car.docs -> openpilot.common.basedir
-
     openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
     openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
 
@@ -53,8 +49,6 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
     openpilot.selfdrive.car.tests.test_models -> openpilot.common.basedir
     openpilot.selfdrive.car.card -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.dump_car_docs
-    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.print_docs_diff
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation

pyproject.toml

@@ -145,6 +145,7 @@ testpaths = [
   "common",
   "selfdrive/pandad",
   "selfdrive/car",
+  "selfdrive/opcar",
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",

selfdrive/car/body/carcontroller.py

@@ -1,12 +1,69 @@
 import copy
 import numpy as np
+from numbers import Number
 
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.pid import PIDController
+
+
+class PIController:
+  def __init__(self, k_p, k_i, pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = k_p
+    self._k_i = k_i
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
+    self.i_unwind_rate = 0.3 / rate
+    self.i_rate = 1.0 / rate
+    self.speed = 0.0
+
+    self.reset()
+
+  @property
+  def k_p(self):
+    return interp(self.speed, self._k_p[0], self._k_p[1])
+
+  @property
+  def k_i(self):
+    return interp(self.speed, self._k_i[0], self._k_i[1])
+
+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
+  def reset(self):
+    self.p = 0.0
+    self.i = 0.0
+    self.control = 0
+
+  def update(self, error, speed=0.0, freeze_integrator=False):
+    self.speed = speed
+
+    self.p = float(error) * self.k_p
+
+    i = self.i + error * self.k_i * self.i_rate
+    control = self.p + i
+
+    # Update when changing i will move the control away from the limits
+    # or when i will move towards the sign of the error
+    if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
+        (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
+       not freeze_integrator:
+      self.i = i
+
+    control = self.p + self.i
+
+    self.control = clip(control, self.neg_limit, self.pos_limit)
+    return self.control
 
 
 MAX_TORQUE = 500
@@ -22,8 +79,8 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_name)
 
     # PIDs
-    self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
-    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.turn_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.wheeled_speed_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.

selfdrive/car/docs.py

@@ -1,12 +1,8 @@
-#!/usr/bin/env python3
-import argparse
 from collections import defaultdict
 import jinja2
-import os
 from enum import Enum
 from natsort import natsorted
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
@@ -21,10 +17,6 @@ def get_all_footnotes() -> dict[Enum, int]:
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
-CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
-CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
-
-
 def get_all_car_docs() -> list[CarDocs]:
   all_car_docs: list[CarDocs] = []
   footnotes = get_all_footnotes()
@@ -65,16 +57,3 @@ def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
                                  group_by_make=group_by_make, footnotes=footnotes,
                                  Column=Column)
   return cars_md
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
-                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
-  parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
-  args = parser.parse_args()
-
-  with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_docs(), args.template))
-  print(f"Generated and written to {args.out}")

selfdrive/car/tests/test_docs.py

@@ -1,16 +1,12 @@
 from collections import defaultdict
-import os
 import pytest
 import re
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_docs
+from openpilot.selfdrive.car.docs import get_all_car_docs
 from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
-from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 
 
 class TestCarDocs:
@@ -18,19 +14,6 @@ class TestCarDocs:
   def setup_class(cls):
     cls.all_cars = get_all_car_docs()
 
-  def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-    with open(CARS_MD_OUT) as f:
-      current_cars_md = f.read()
-
-    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
-
-  def test_docs_diff(self):
-    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_docs(dump_path)
-    print_car_docs_diff(dump_path)
-    os.remove(dump_path)
-
   def test_duplicate_years(self, subtests):
     make_model_years = defaultdict(list)
     for car in self.all_cars:

selfdrive/opcar/__init__.py

@@ -0,0 +1 @@
+# This folder will be renamed back to car after the opendbc car split

selfdrive/opcar/docs.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+import argparse
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car.docs import get_all_car_docs, generate_cars_md
+
+CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
+CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
+  parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
+  args = parser.parse_args()
+
+  with open(args.out, 'w') as f:
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
+  print(f"Generated and written to {args.out}")

selfdrive/opcar/tests/test_docs.py

@@ -0,0 +1,26 @@
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car.docs import generate_cars_md, get_all_car_docs
+from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
+from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
+from openpilot.selfdrive.opcar.docs import CARS_MD_OUT, CARS_MD_TEMPLATE
+
+
+class TestCarDocs:
+  @classmethod
+  def setup_class(cls):
+    cls.all_cars = get_all_car_docs()
+
+  def test_generator(self):
+    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
+    with open(CARS_MD_OUT) as f:
+      current_cars_md = f.read()
+
+    assert generated_cars_md == current_cars_md, "Run selfdrive/opcar/docs.py to update the compatibility documentation"
+
+  def test_docs_diff(self):
+    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
+    dump_car_docs(dump_path)
+    print_car_docs_diff(dump_path)
+    os.remove(dump_path)