Fix 0.7 Merge (commaai#247)

* Fix ordinals in car.capnp * Fix ordinals in car.capnp again * Fix AccState for GM and disable mock radar for now * Default stock UI for now * Revert to stock UI for now * Fix steer_rate_cost * Fix bus in safety_honda * Fix self.steer_rate_cost * Fix steer_rate_cost and other stuff * Moar pathplanner.py fixes * Fix gm/carcontroller for fcw var * Remove FCW_OFF_2 which is missing from some DBCs * Remove ICONS from hondacan for DBCs that are missing values * Remove all FCM and extra signals * Disable Kegman lkas blinker disable for Comma's ALC * Disable Blinker Eon screen alert in favour of Comma ALCA * Enable Comma's Auto Lane ChangeEnable Comma's Auto Lane Change * Reinstate devUI * Fix GM fcw * Fix carcontroller.py for GM and Toy
kegman · Dec 23, 2019 · eca8b2a · eca8b2a
1 parent 827f479
commit eca8b2a
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Showing 12 changed files with 21 additions and 36 deletions.
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -138,8 +138,8 @@ struct CarState {
   leftBlinker @20 :Bool;
   rightBlinker @21 :Bool;
   genericToggle @23 :Bool;
-  distanceToggle @30 :Float32;
-  laneDepartureToggle @31 :Bool;
+  distanceToggle @33 :Float32;
+  laneDepartureToggle @34 :Bool;
 
   # lock info
   doorOpen @24 :Bool;
@@ -151,7 +151,7 @@ struct CarState {
   clutchPressed @28 :Bool;
 
   readdistancelines @32 :Float32;
-  lkMode @29 :Bool;
+  lkMode @35 :Bool;
 
 
 

diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
@@ -23,6 +23,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int addr = GET_ADDR(to_push);
   int len = GET_LEN(to_push);
+  int bus = GET_BUS(to_push);
 
   // sample speed
   if (addr == 0x158) {

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
@@ -4,7 +4,7 @@
 from selfdrive.config import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS
+from selfdrive.car.gm.values import DBC, AccState, SUPERCRUISE_CARS
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -77,6 +77,7 @@ def __init__(self, canbus, car_fingerprint):
     self.car_fingerprint = car_fingerprint
     self.lka_icon_status_last = (False, False)
     self.steer_rate_limited = False
+    self.fcw_count = 0
 
     # Setup detection helper. Routes commands to
     # an appropriate CAN bus number.

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
@@ -145,7 +145,7 @@ def update(self, enabled, CS, frame, actuators, \
     apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
     apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
-    lkas_active = enabled and not CS.steer_not_allowed and CS.lkMode and not CS.left_blinker_on and not CS.right_blinker_on  # add LKAS button to toggle steering
+    lkas_active = enabled and not CS.steer_not_allowed # and CS.lkMode and not CS.left_blinker_on and not CS.right_blinker_on  # add LKAS button to toggle steering
 
     # Send CAN commands.
     can_sends = []

diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
@@ -68,10 +68,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
       'IMPERIAL_UNIT': speed_units,
       'SET_ME_X01_2': 1,
       'SET_ME_X01': 1,
-      "FCM_OFF": stock_hud["FCM_OFF"],
-      "FCM_OFF_2": stock_hud["FCM_OFF_2"],
-      "FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
-      "ICONS": stock_hud["ICONS"],
     }
     commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
 

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -516,8 +516,8 @@ def update(self, c, can_strings):
 
     if not self.CS.lkMode:
       events.append(create_event('manualSteeringRequired', [ET.WARNING]))
-    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on):
-      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    #elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on):
+    #  events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
     elif self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif self.CS.steer_warning:

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
@@ -211,7 +211,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
       if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif CS.CP.openpilotLongitudinalControl:
-        can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
+        can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead, distance))
       else:
         can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, distance))
 

diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
@@ -14,7 +14,7 @@
 LaneChangeState = log.PathPlan.LaneChangeState
 LaneChangeDirection = log.PathPlan.LaneChangeDirection
 
-LOG_MPC = os.environ.get('LOG_MPC', True)
+LOG_MPC = os.environ.get('LOG_MPC', False)
 
 DESIRES = {
   LaneChangeDirection.none: {
@@ -53,6 +53,7 @@ def __init__(self, CP):
     self.setup_mpc()
     self.solution_invalid_cnt = 0
     self.path_offset_i = 0.0
+
     self.mpc_frame = 0
     self.sR_delay_counter = 0
     self.steerRatio_new = 0.0
@@ -73,14 +74,15 @@ def __init__(self, CP):
     self.sRBP = [float(kegman.conf['sR_BP0']), float(kegman.conf['sR_BP1'])]
 
     self.steerRateCost_prev = self.steerRateCost
-    self.setup_mpc(self.steerRateCost)
-
-
-  def setup_mpc(self, steer_rate_cost):
+    self.setup_mpc()
+
     self.lane_change_state = LaneChangeState.off
     self.lane_change_timer = 0.0
     self.prev_one_blinker = False
 
+
+
+  def setup_mpc(self):
     self.libmpc = libmpc_py.libmpc
     self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
 
@@ -118,7 +120,7 @@ def update(self, sm, pm, CP, VM):
       if kegman.conf['tuneGernby'] == "1":
         self.steerRateCost = float(kegman.conf['steerRateCost'])
         if self.steerRateCost != self.steerRateCost_prev:
-          self.setup_mpc(self.steerRateCost)
+          self.setup_mpc()
           self.steerRateCost_prev = self.steerRateCost
 
         self.sR = [float(kegman.conf['steerRatio']), (float(kegman.conf['steerRatio']) + float(kegman.conf['sR_boost']))]
@@ -166,7 +168,7 @@ def update(self, sm, pm, CP, VM):
 
       # State transitions
       # off
-      if False: # self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker:
+      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker:
         self.lane_change_state = LaneChangeState.preLaneChange
 
       # pre

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
@@ -87,12 +87,6 @@ def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True):
 class RadarD():
   def __init__(self, radar_ts, delay=0):
     self.current_time = 0
-    CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
-
-    if CP.radarOffCan:
-      self.mocked = True
-    else:
-      self.mocked = mocked
 
     self.tracks = defaultdict(dict)
     self.kalman_params = KalmanParams(radar_ts)
@@ -190,10 +184,6 @@ def radard_thread(sm=None, pm=None, can_sock=None):
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
   CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
-  if CP.radarOffCan:
-    mocked = True
-  else:
-    mocked = CP.carName == "mock"
   cloudlog.info("radard got CarParams")
 
   # import the radar from the fingerprint
@@ -215,7 +205,7 @@ def radard_thread(sm=None, pm=None, can_sock=None):
   rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
   RD = RadarD(CP.radarTimeStep, RI.delay)
 
-  has_radar = True
+  has_radar = not CP.radarOffCan
 
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)

diff --git a/selfdrive/manager.py b/selfdrive/manager.py
@@ -134,7 +134,7 @@ def unblock_stdout():
   "proclogd": ("selfdrive/proclogd", ["./proclogd"]),
   "boardd": ("selfdrive/boardd", ["./boardd"]),   # not used directly
   "pandad": "selfdrive.pandad",
-  "ui": ("selfdrive/ui", ["./ui"]),
+  "ui": ("selfdrive/ui", ["./start.py"]),
   "calibrationd": "selfdrive.locationd.calibrationd",
   "paramsd": ("selfdrive/locationd", ["./paramsd"]),
   "camerad": ("selfdrive/camerad", ["./camerad"]),

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui