Small Fixes

common/realtime.py

@@ -55,10 +55,12 @@ def remaining(self):
     return self._remaining
 
   # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self, offset=0.):
     lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
+    elif not offset == 0.:
+      self._next_frame_time += offset
     return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate

selfdrive/boardd/boardd_setup.py

@@ -21,7 +21,7 @@
     ARCH_DIR = 'x64'
 else:
   libraries = [':libcan_list_to_can_capnp.a', 'capnp', 'kj']
-  if os.path.isdir("/system"):
+  if os.path.isdir("/system") or os.path.isdir('/data/oprun'):
     ARCH_DIR = 'aarch64'
   else:
     ARCH_DIR = 'larch64'

selfdrive/car/interfaces.py

@@ -17,6 +17,9 @@ def __init__(self, CP, CarController, CarState):
     self.VM = VehicleModel(CP)
 
     self.frame = 0
+    self.gas_pressed_prev = False
+    self.brake_pressed_prev = False
+    self.cruise_enabled_prev = False
     self.low_speed_alert = False
 
     self.CS = CarState(CP)
@@ -105,8 +108,8 @@ def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.
     # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
-    if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
-       (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
+    if (cs_out.gasPressed and (not self.gas_pressed_prev) and cs_out.vEgo > gas_resume_speed) or \
+       (cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
     # we engage when pcm is active (rising edge)

selfdrive/car/tesla/carstate.py

@@ -235,6 +235,11 @@ def __init__(self, CP):
     self.ahbOffDuration = 5
     self.roadCameraID = ""
     self.driverCameraID = ""
+    self.roadCameraFx = 0.73
+    self.driverCameraFx = 0.75
+    self.roadCameraFlip = 0
+    self.driverCameraFlip = 0
+    self.monitorForcedRes = ""
     #read config file
     read_config_file(self)
     ### END OF MAIN CONFIG OPTIONS ###

selfdrive/controls/controlsd.py

@@ -30,8 +30,8 @@
 
 
 LANE_DEPARTURE_THRESHOLD = 0.1
-STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
-STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
+EER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
+STEER_ANGLE_SATURATION_THRESHOLD = 250  # Degrees
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -119,7 +119,7 @@ def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter
     else:
       events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
-  if CS.vEgo > 92 * CV.MPH_TO_MS:
+if CS.vEgo > 150 * CV.MPH_TO_MS:
     events.append(create_event('speedTooHigh', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
   # When the panda and controlsd do not agree on controls_allowed
@@ -470,10 +470,6 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
 
   passive = passive or not openpilot_enabled_toggle
 
-  # Passive if internet needed
-  internet_needed = params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None
-  passive = passive or internet_needed
-
   # Pub/Sub Sockets
   if pm is None:
     pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
@@ -548,6 +544,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   # controlsd is driven by can recv, expected at 100Hz
   rk = Ratekeeper(100, print_delay_threshold=None)
 
+  internet_needed = params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None
 
   prof = Profiler(False)  # off by default
 

selfdrive/controls/lib/alerts.py

@@ -110,7 +110,7 @@ def __gt__(self, alert2):
 
   Alert(
       "preDriverDistracted",
-      "KEEP EYES ON ROAD: Driver Distracted",
+      "KEEP EYES ON ROAD: Driver Appears Distracted",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
@@ -272,7 +272,7 @@ def __gt__(self, alert2):
   Alert(
       "dataNeededNoEntry",
       "openpilot Unavailable",
-      "Calibration Needs Data. Upload Drive, Try Again",
+      "Data Needed for Calibration. Upload Drive, Try Again",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
@@ -526,13 +526,6 @@ def __gt__(self, alert2):
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
-  Alert(
-      "speedTooHigh",
-      "Speed Too High",
-      "Slow down to resume operation",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-
   # Cancellation alerts causing non-entry
   Alert(
       "overheatNoEntry",
@@ -551,7 +544,7 @@ def __gt__(self, alert2):
   Alert(
       "calibrationInvalidNoEntry",
       "openpilot Unavailable",
-      "Calibration Invalid: Reposition Device & Recalibrate",
+      "Calibration Invalid: Reposition Device and Recalibrate",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
@@ -752,13 +745,6 @@ def __gt__(self, alert2):
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
-  Alert(
-      "invalidLkasSettingPermanent",
-      "Stock LKAS is turned on",
-      "Turn off stock LKAS to engage",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-
   Alert(
       "internetConnectivityNeededPermanent",
       "Please connect to Internet",

tools/webcam/README.md

@@ -17,10 +17,10 @@ git clone https://github.com/commaai/openpilot.git
 ```
 - Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements  
 - Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc  
-- You also need to install tensorflow-gpu 2.1.0 (if not working, try 2.0.0) and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5  
+- You also need to install tensorflow-gpu 2.1.0 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5  
 - Install [OpenCL Driver](http://registrationcenter-download.intel.com/akdlm/irc_nas/12556/opencl_runtime_16.1.2_x64_rh_6.4.0.37.tgz)  
 - (Note: the code assumes cl platforms order to be 0.GPU/1.CPU when running clinfo; if reverse, change the -1 to -2 in selfdrive/modeld/modeld.cc#L130; helping us refactor this mess is encouraged)  
-- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part)  
+- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/)  
 
 ## Build openpilot for webcam  
 ```

tools/webcam/front_mount_helper.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3.6
 import numpy as np
 
 # copied from common.transformations/camera.py
@@ -15,7 +15,7 @@
   [  0.,  webcam_focal_length,  720/2.],
   [  0.,    0.,     1.]])
 
-cam_id = 2
+cam_id = 1
 
 if __name__ == "__main__":
   import cv2
@@ -32,4 +32,4 @@
       img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152,864), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
       img = img[:,-864//2:,:]
       cv2.imshow('preview', img)
-      cv2.waitKey(10)
+      cv2.waitKey(10)

tools/webcam/jetson_test_cam.py

@@ -11,7 +11,8 @@
                              " nvvidconv ! video/x-raw(memory:NVMM),format=I420 !"
                              " nvvidconv ! video/x-raw,format=BGRx !"
                              " videoconvert ! video/x-raw,format=BGR !"
-                             " videoscale ! video/x-raw,width=%d,height=%d !"
+                             " videoscale ! video/x-raw,width=%d,height=%d ! %s"
+                             " videobox autocrop=true ! video/x-raw,width=%d,height=%d !"
                              " appsink ")
   cs = CarSettings()
   if len(sys.argv) != 2:
@@ -21,11 +22,15 @@
   if cam == "road" or cam == "driver":
     print ("Processing camera [%s]\n" % cam)
     if cam == "road":
-      strm = strm_template % (cs.roadCameraID, 800, 600, 20, 1164,874)
-      dx = round(1164/4)
-      dy = round(874/4)
+      flip_command = ""
+      if cs.roadCameraFlip == 1:
+        flip_command = "videoflip method=rotate-180 ! "
+      strm = strm_template % (cs.roadCameraID, 800, 600, 20, round(1164*cs.roadCameraFx*1.5),round(874*cs.roadCameraFx*1.5),flip_command,1164,874)
     else:
-      strm = strm_template % (cs.driverCameraID, 640, 480, 10, 1152,864)
+      flip_command = ""
+      if cs.driverCameraFlip == 1:
+        flip_command = "videoflip method=180 ! "
+      strm = strm_template % (cs.driverCameraID, 640, 480, 10, round(1152*cs.driverCameraFx),round(864*cs.driverCameraFx),flip_command,1152,864)
       dx = round(1152/4)
       dy = round(864/4)
     print("Capturing with stream [%s}\n" % strm)
@@ -35,7 +40,7 @@
       while True:
         ret, frame = cap.read()
         if cam == "road":
-          img = frame[ dy:3*dy, dx:3*dx]
+          img = frame
         else:
           img = frame[:,-864//2:,:]
         if ret:

tools/webcam/warp_vis.py

@@ -5,7 +5,7 @@
 eon_focal_length = 910.0 # pixels
 eon_dcam_focal_length = 860.0 # pixels
 
-webcam_focal_length = -908.0/1.5 # pixels
+webcam_focal_length = 1408.0/1.5 # pixels
 
 eon_intrinsics = np.array([
   [eon_focal_length,   0.,   1164/2.],
@@ -18,8 +18,8 @@
   [  0,    0,     1]])
 
 webcam_intrinsics = np.array([
-  [webcam_focal_length,   0.,   1280/2/1.5],
-  [  0.,  webcam_focal_length,  720/2/1.5],
+  [webcam_focal_length,   0.,   960/2/1.5],
+  [  0.,  webcam_focal_length,  544/2/1.5],
   [  0.,    0.,     1.]])
 
 if __name__ == "__main__":
@@ -29,17 +29,18 @@
   print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear)
   print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front)
 
-  cap = cv2.VideoCapture(1)
-  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853)
-  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+  cap = cv2.VideoCapture(2)
+  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 960)
+  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 544)
 
   while (True):
-    ret, img = cap.read()
+    ret, img = cap.read(1)
     if ret:
-      # img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
-      img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
+      #img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
+      img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=100)
       print(img.shape, end='\r')
       cv2.imshow('preview', img)
       cv2.waitKey(10)
 
 
+