* ban cereal and msgq
* common too
* do toyota/values.py
* do all fingerprints
* example without builder
* this still works, but no type checking anymore
* stash
* wtf, how does this work
* okay actually not bad
* safe
* epic!
* stash data_structures.py
* some clean up
* hell yeah
* clean up old file
* add to delete
* delete
This reverts commit 90239b7797.
* switch more CarParams stuff over
remove unused
* fix car tests by removing cereal! mypy forgets about dataclass if we wrap it :(
* fix this too
* fix this too
* remove more cereal and add some good hyundai tests
* bunch more typing
* override default with 20hz radar
* temp capnp converter helper
* more lateralTuning
* small union replicator is better than what i was trying, and fixes mypy dynamic typing issues
* can keep all this the same now!
* type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!)
* revert more
* get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :(
would have been `CarParams.NetworkLocation()`
* Revert "get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :("
This reverts commit bb28b228be.
* remove cereal from car_helpers (TODO: caching)
* remove a bunch of temp lines
* use dataclass_transform!
* remove some car.CarParams from the interfaces
* remove rest of car.CarParams from the interfaces
* same which() API
* sort
* from cereal/cache from fingerprinting!
* more typing
* dataclass to capnp helper for CarParams, cached it since it's kinda slow
* (partial) fix process replay fingerprintig for new API
* latcontrollers take capnp
* forgot this
* fix test_models
* fix unit tests
* not here
* VehicleModel and controller still takes capnp CP since they get it from Params()
* fix modeld test
* more fix
* need to namespace to structs, since CarState is both class and struct
* this was never in the base class?!
* clean that up again
* fix import error
fix import error
* cmts and more structs
* remove some more cereal from toyota + convert CarState to capnp
* bruh this was wrong
* replace more cereal
* EventName is one of the last things...
* replace a bunch more cereal.car
* missing imports
* more
* can fix this typing now
* proper toyota+others CS typing!
* mypy can detect return type of CS.update() now
* fix redeclaration of cruise_buttons type
* mypy is only complaining about events now
* temp fix
* add carControl struct
* replace CarControl
i hope there's no circular imports in hyundai's CC
* fine now
* lol this was wrong too
* fix crash
* include my failed attempts at recursively converting to dataclass (doesn't implicitly convert types/recursively :( )
but attrs does, maybe will switch in the future
* clean up
* try out attr.s for its converter (doesn't work recursively yet, but interesting!)
* Revert "try out attr.s for its converter (doesn't work recursively yet, but interesting!)"
This reverts commit ff2434f7bb.
* test processes doesn't fail anymore (on toyota)!
* fix honda crash
* stash
* Revert "stash"
This reverts commit c1762af4e7.
* remove a bunch more cereal!
* LET'S GOOO
* fix these tests
* and these
* and that
* stash, something is wrong with hyundai enable
* Revert "stash, something is wrong with hyundai enable"
This reverts commit 39cf327def.
* forgot these
* remove cereal from fw_versions
* Revert "remove cereal from fw_versions"
This reverts commit 232b37cd40.
* remove rest of the cereal exceptions!
* fix that
* add typing to radard since I didn't realize RI.update() switched from cereal to structs
* and here too!
* add TODO for slots
* needed CS to be capnp, fix comparisons, and type hint car_specific so it's easier to catch type issues (capnp isn't detected by mypy :( )
* remove the struct converter
* save ~4-5% CPU at 100hz, we don't modify after so no need to deepcopy
btw pickle.loads(pickle.dumps()) is faster by ~1% CPU
* deepcopy -> copy: we can technically make a reference, but copy is almost free and less error-prone
saves ~1% CPU
* add non-copying asdict function
* should save ~3% CPU (still 4% above baseline)
* fix that, no dict support
* ~27% decrease in time for 20k iterations on 3X (3.37857 -> 2.4821s)
* give a better name
* fix
* dont support none, capitalize
* sheesh, this called type() on every field
* remove CS.events, clean up
* bump card %
* this was a bug on master!
* add a which enum
* default to pid
* revert
* update refs
* not needed, but consistent
* just Ecu
* don't need to do this in this pr
* clean up
* no cast
* consistent typing
* rm
* fix
* can do this if we're desperate for the last few %
* Revert "can do this if we're desperate for the last few %"
This reverts commit 18e11ac788.
* type this
* don't need to convert carControl
* i guess don't support set either
* fix CP type hint
* simplify that
* Reapply "selfdrive/car: ban imports from external modules" (#32993)
This reverts commit 35a4a773f1.
* controls will just use controls
* also these
* ignore
* format card
* standalone process
* no class member CS, there's no point
also can be confusing; what else could be using this?
* rename CoS
* Update selfdrive/controls/controlsd.py
* never works first time :D
* canRcvTimeout is bool
* hack
* add cpu
* see what testing closet comes up with
* first
* some clean up
* support passable CI, fix test models
* fix startup alert
* process replay changes
* test_fuzzy
* gate carOutput valid on carControl valid
* we should publish after we update carOutput
* controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date
* check all checks for carControl in case controlsd dies
* log more timestamps
* more generic latency logger; needs some clean up
latency_logger.py was difficult to understand and modify
* card polls on can and carControl to get latest carControl possible
* temp try to send earlier
* add log
* remove latencylogger
* no mpld3!
* old loop
* detect first event
* normal send
* revert "card polls on can and carControl to get latest carControl possible"
how it was is best
* sheesh! update should be first
* first timestamp
* temp comment ( timestamp is slow :( )
* more final ordering, and make polling on/off test repeatable
* Received can
* new plot timestamps
* clean up
* no poll
* add controllers (draft)
* Revert "add controllers (draft)"
This reverts commit e2c3f01b2f.
* fix that
* conventions
* just use CS
* consider controlsd state machine in card: not fully done
* hmm it's just becoming controlsd
* rm debugging
* Revert "hmm it's just becoming controlsd"
This reverts commit 534a357ee9.
* Revert "just use CS"
This reverts commit 9fa7406f30.
* add vCruise
* migrate car state
* Revert "migrate car state"
This reverts commit 4ae86ca163.
* Revert "add vCruise"
This reverts commit af247a8da4.
* simple state machine in card (doesn't work as is)
* Revert "simple state machine in card (doesn't work as is)"
This reverts commit b4af8a9b0a.
* poll carState without conflate
* bump
* remove state transition
* fix
* update refs
* ignore cumLagMs and don't ignore valid
* fix controls mismatch; controlsd used to set alt exp
* controlsd_config_callback not needed for card
* revert ref temp
* update refs
* no poll
* not builder!
* test fix
* need to migrate initialized
* CC will be a reader
* more as_reader!
* fix None
* init after publish like before - no real difference
* controlsd clean up
* remove redundant check and check passive for init
* stash
* flip
* migrate missing carOutput for controlsd
* Update ref_commit
* bump cereal
* comment
* no class params
* no class
* Revert "no class"
This reverts commit 5499b83c2d.
* add todo
* regen and update refs
* fix
* update refs
* and fix that
* should be controlsstate
* remove controlsState migration
CoS.initialized isn't needed yet
* fix
* flip!
* bump
* fix that
* update refs
* fix
* if canValid goes false, controlsd would still send
* bump
* rm diff
* need to be very careful with initializing
* update refs
* draft
* bump opendbc
* still draft
* that's not right
* superset of the changes, 33hz
* cleanup
* this should work
* remove line
* pass it in again
* actually no need to check updated now
* now_nanos
* consistent name
* fix replay
* one line isn't that bad
switch
switch
* fix CarController tests
* Update ref_commit
* stash
* more test
* less test
* clean test
* no angle
* add tolerance
* fix gm
fix gm
* test both
* lower some rates on hkg
* stash
* simpler
* bump panda
* Revert "bump panda"
This reverts commit f2137c2211.
* only torque
* make kona pass
* duplicate __init__
* move
* half clean up
* half clean up
* more clean up
* more clean up
* fix static analysis
* calculate over 0.5 seconds
* limit to max steer
* type annotation
* calc once
* gate on FW
* fix
* reverse docs
* fix
* Revert "fix"
This reverts commit a0f2558fba.
Revert "reverse docs"
This reverts commit 9a46c517df.
Revert "fix"
This reverts commit 7b4d4bd3d2.
Revert "gate on FW"
This reverts commit 296826e713.
* use a flag
* fix
* draft
* clean up
* clean up
* more clear
* comment
* remove
* torque control again
* 3mss per s
* no bad sensors
* tweaks
* Need more checks before we can do this
* update refs
* only ram for now
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* RamInit
* bump submodules
* lil cleanup
* clean up carstate formatting and platform grouping
make tuple
* give it a gold torque star (looks around 2.4 from rough data)
* Dasm Fault
* bump panda
* more cleanup
* cleanup car state
* more cleanup
* some fixes
* remove more stuff
* fix angle signal scaling and fix lkas control bit
* bump panda
* update those
* same limits as pacifica
* cleanup hud alert building
* better fault logic
* fix rate
* set ahb
* bring that back
* update refs
Co-authored-by: Jonathan <jraycec@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Comma Device <device@comma.ai>
* clean up
* max range is 15
* use wheel buttons counter and clean up
* no
* try spamming 10 times with next counter value
* try 50 hz
* this is dead code
* revert behavior changes, just clean up
* revert more
* also that
* no multiline can creation
* sort imports
These models need to turn off gone_fast_yet bit at -3 to avoid LKAS
faults.
This was likely an accidental omission from PR #1297
To avoid future similar mistakes, we could define a list of these cars
in values.py instead of having the list in multiple places.
* don't need individual prev state vars since whole CS is copied
* don't need a whole function since toyota alerts were simplified
* better here
* abstract pcmEnable/pcmDisable events
* the flippening came to NEOS
* delete
* unused
* Revert "the flippening came to NEOS"
This reverts commit 91cfb73b29.
* Before abstraction, adding speed init from VW as well
* strting to abstract carstate class
* fix bug and update lock?
* revert pipfile change
* another bug
* fix linter
* bug fix
* remove a bunch of diplicated kf code
* better to not have class vars. will abstract __init__ anyway later
* abstract common instance vars in carstate init and a generic gear parser static method
* abstract gear parser for chrysler
* abstract gm gear parser too
* remove unnecessary random vars
* Chrysler: carstate returns capnp struct directly
* revert ref commit
* test ref
* ops, missed this conflict
* not sure why this got deleted
* no need to copy
* remove copy import
Co-authored-by: Willem Melching <willem.melching@gmail.com>
* support for Chrysler Pacifica 2020 Hybrid
Thanks to Benson in Discord.
Example segment: 8190c7275a24557b|2020-01-29--08-33-58--7
* Add relevant route to selfdrive/test/test_car_models.py
* fix segment test name
Shane Smiskol
Dean Lee
Justin Newberry
Jason Wen
Adeeb Shihadeh
HaraldSchafer
realfast
Willem Melching
qadmus
Drew Hintz
Adeeb
rbiasini
George Hotz