Update to 0.6.0.3 (#41)

* Better Panda

* 0.6.0.2 Untested

* update releases

* bug

* Send fingerprints to Sentry

* Refactor default Civic params (commaai#720)

* move civic params out

* fix variable name

* simplify ford scaling

* cleanup

* remove import dependency

* requested changes

* keep hyundai

* 2019 Rav4 Limited AWD (commaai#732)

* Fingerprint

* Merge Limited and XLE fingerprint because they're the same

* 0.6.0.3 - Untested

* no mapd just yet

* Remote ASL

* Done

* panda too

* mapd, auto speed and cloudlog

* start mapd

* Test

* bug

* better code

* bug

* bug

* bug

* bug

* bug

* tweak

* Remove Min Speed Steer Disengage

RELEASES.md

@@ -1,3 +1,14 @@
+Version 0.6.0.4-ku7 (2019-07-**)
+========================
+* HKG - Log to cloudlog rather than print to stdout
+* HKG - WIP: mapd is going to need a lot of reworking
+* HKG - Forward LKAS_Icon (not really an icon)
+* HKG - Disengage Properly
+* HKG - Fixed Brute Force Checksum Learner
+* HKG - Detect Genesis and default min speed
+* HLG - Fix Min Speed Code
+
+
 Version 0.6.0.3-ku7 (2019-07-09)
 ========================
 * HKG - Send fingerprints to Sentry

selfdrive/car/hyundai/carcontroller.py

@@ -9,6 +9,8 @@
 import selfdrive.messaging as messaging
 from selfdrive.config import Conversions as CV
 from common.params import Params
+from selfdrive.swaglog import cloudlog
+
 
 
 # Steer torque limits
@@ -34,9 +36,8 @@ def __init__(self, dbc_name, car_fingerprint):
     self.last_resume_cnt = 0
 
     self.map_speed = 0
-    #context = zmq.Context()
-    #self.map_data_sock = messaging.sub_sock(context, service_list['liveMapData'].port, conflate=True)
-    #self.params = Params()
+    self.map_data_sock = messaging.sub_sock(service_list['liveMapData'].port)
+    self.params = Params()
     self.speed_conv = 3.6
     self.speed_offset = 1.03      # Multiplier for cruise speed vs speed limit  TODO: Add to UI
     self.speed_enable = True      # Enable Auto Speed Set                       TODO: Add to UI
@@ -46,7 +47,6 @@ def __init__(self, dbc_name, car_fingerprint):
     self.checksum_learn_cnt = 0
 
     self.turning_signal_timer = 0
-    self.min_steer_speed = 0.
     self.camera_disconnected = False
 
     self.packer = CANPacker(dbc_name)
@@ -61,41 +61,35 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
     # Learn Checksum from the Camera
     if self.checksum == "NONE":
       self.checksum = learn_checksum(self.packer, CS.lkas11)
-      print ("Discovered Checksum", self.checksum)
+      cloudlog.info("Discovered Checksum")
       if self.checksum == "NONE" and self.checksum_learn_cnt < 50:
         self.checksum_learn_cnt += 1
         return
 
     # If MDPS is faulted from bad checksum, then cycle through all Checksums until 1 works
     if CS.steer_error == 1:
       self.camera_disconnected = True
-      print ("Camera Not Detected: Brute Forcing Checksums")
+      cloudlog.warning("Camera Not Detected: Brute Forcing Checksums")
       if self.checksum_learn_cnt > 250:
         self.checksum_learn_cnt = 50
         if self.checksum == "NONE":
-          print ("Testing 6B Checksum")
-          self.checksum == "6B"
+          cloudlog.info("Testing 6B Checksum")
+          self.checksum = "6B"
         elif self.checksum == "6B":
-          print ("Testing 7B Checksum")
-          self.checksum == "7B"
+          cloudlog.info("Testing 7B Checksum")
+          self.checksum = "7B"
         elif self.checksum == "7B":
-          print ("Testing CRC8 Checksum")
-          self.checksum == "crc8"
+          cloudlog.info("Testing CRC8 Checksum")
+          self.checksum = "crc8"
         else:
-          self.checksum == "NONE"
+          self.checksum = "NONE"
       else:
         self.checksum_learn_cnt += 1
 
     ### Minimum Steer Speed ###
 
-    # Learn Minimum Steer Speed
-    if CS.mdps12_flt != 0 and CS.v_ego_raw > 0. and abs(CS.angle_steers) < 10.0 :
-      if CS.v_ego_raw > self.min_steer_speed:
-        self.min_steer_speed = CS.v_ego_raw + 0.1
-        print ("Discovered new Min Speed as", self.min_steer_speed)
-
     # Apply Usage of Minimum Steer Speed
-    if CS.v_ego_raw < self.min_steer_speed:
+    if CS.v_ego_raw < CS.min_steer_speed:
       disable_steer = True
 
     ### Turning Indicators ###
@@ -112,8 +106,9 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
 
     if not enabled or disable_steer:
       apply_steer = 0
-
-    steer_req = 1 if enabled else 0
+      steer_req = 0
+    else:
+      steer_req = 1
 
     self.apply_steer_last = apply_steer
 

selfdrive/car/hyundai/carstate.py

@@ -136,7 +136,6 @@ def get_camera_parser(CP):
 
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2, timeout=100)
 
-
 class CarState(object):
   def __init__(self, CP):
 
@@ -160,9 +159,6 @@ def __init__(self, CP):
     self.right_blinker_flash = 0
     self.has_scc = False
     self.min_steer_speed = 0
-
-  def update_min_speed(speed):
-    self.min_steer_speed = speed
 
   def update(self, cp, cp_cam):
     if (cp.vl["SCC11"]['TauGapSet'] > 0):
@@ -224,8 +220,9 @@ def update(self, cp, cp_cam):
     self.steer_torque_driver = cp.vl["MDPS12"]['CR_Mdps_StrColTq']
     self.steer_torque_motor = cp.vl["MDPS12"]['CR_Mdps_OutTq']
     self.stopped = cp.vl["SCC11"]['SCCInfoDisplay'] == 4. if self.has_scc else False
-    self.mdps11_strang = cp.vl["MDPS11"]["CR_Mdps_StrAng"]
-    self.mdps11_stat = cp.vl["MDPS11"]["CF_Mdps_Stat"]
+    self.mdps11_strang = cp.vl["MDPS11"]['CR_Mdps_StrAng']
+    self.mdps11_stat = cp.vl["MDPS11"]['CF_Mdps_Stat']
+    self.lkas11_icon = cp_cam.vl["LKAS11"]['CF_Lkas_Icon']
     self.mdps12_flt = cp.vl["MDPS12"]['CF_Mdps_ToiFlt']
 
     self.user_brake = 0
@@ -238,6 +235,14 @@ def update(self, cp, cp_cam):
       self.pedal_gas = cp.vl["EMS12"]['TPS']
     self.car_gas = cp.vl["EMS12"]['TPS']
 
+    # Learn Minimum Steer Speed
+    if self.mdps12_flt != 0 and self.v_ego_raw > 0. and abs(self.angle_steers) < 5.0 and self.lkas11_icon != 2:
+      if self.v_ego_raw > self.min_steer_speed:
+        self.min_steer_speed = self.v_ego_raw + 0.1
+    # If we have LKAS_Icon == 2, then we know its 16.7m/s
+    elif self.lkas11_icon == 2 and self.min_steer_speed < 16.7:
+      self.min_steer_speed = 16.7
+
     # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
     gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
     if gear == 5:

selfdrive/car/hyundai/hyundaican.py

@@ -7,7 +7,7 @@ def make_can_msg(addr, dat, alt):
 
 def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock, checksum):
   values = {
-    "CF_Lkas_Icon": 2,
+    "CF_Lkas_Icon": lkas11["CF_Lkas_Icon"] if keep_stock else 3,
     "CF_Lkas_LdwsSysState": 3 if steer_req else 1,
     "CF_Lkas_SysWarning": hud_alert,
     "CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,

selfdrive/car/hyundai/interface.py

@@ -178,10 +178,10 @@ def update(self, c):
     ret.seatbeltUnlatched = not self.CS.seatbelt
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
-    if ret.vEgo < (self.CS.min_steer_speed + 2.) and self.CS.min_steer_speed > 10.:
-      self.low_speed_alert = True
-    if ret.vEgo > (self.CS.min_steer_speed + 4.):
-      self.low_speed_alert = False
+    #if self.CS.v_ego_raw < (self.CS.min_steer_speed) and self.CS.min_steer_speed > 2.:
+    #  self.low_speed_alert = True
+    #if self.CS.v_ego_raw > (self.CS.min_steer_speed + 0.2):
+    self.low_speed_alert = False
 
     events = []
     if (self.CS.gear_shifter != 'drive') and (self.CS.gear_tcu != 'drive') and (self.CS.gear_shifter_cluster != 'drive'):

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.6.0.3-ku7"
+#define COMMA_VERSION "0.6.0.4-dev"

selfdrive/manager.py

@@ -100,7 +100,7 @@ def unblock_stdout():
   "plannerd": "selfdrive.controls.plannerd",
   "radard": "selfdrive.controls.radard",
   "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
-  # "mapd": "selfdrive.mapd.mapd",
+  #"mapd": "selfdrive.mapd.mapd",
   "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
   "logmessaged": "selfdrive.logmessaged",
   "tombstoned": "selfdrive.tombstoned",
@@ -152,7 +152,7 @@ def get_running():
   'proclogd',
   'ubloxd',
   'gpsd',
-  # 'mapd',
+  #'mapd',
   'deleter',
 ]
 

selfdrive/mapd/mapd.py

@@ -137,11 +137,10 @@ def save_gps_data(gps):
 def mapsd_thread():
   global last_gps
 
-  context = zmq.Context()
   poller = zmq.Poller()
-  gps_sock = messaging.sub_sock(context, service_list['gpsLocation'].port, conflate=True)
-  gps_external_sock = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, conflate=True, poller=poller)
-  map_data_sock = messaging.pub_sock(context, service_list['liveMapData'].port)
+  gps_sock = messaging.sub_sock(service_list['gpsLocation'].port)
+  gps_external_sock = messaging.sub_sock(service_list['gpsLocationExternal'].port)
+  map_data_sock = messaging.pub_sock(service_list['liveMapData'].port)
 
   cur_way = None
   curvature_valid = False