Merge branch 'tesla_devel' into tesla_alpha_0.6.5_dm

BogGyver · Oct 30, 2019 · 9929061 · 9929061
2 parents da8f168 + 9e82e2e
commit 9929061
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Showing 3 changed files with 9 additions and 2 deletions.
diff --git a/selfdrive/car/modules/ALCA_module.py b/selfdrive/car/modules/ALCA_module.py
@@ -67,6 +67,7 @@
 ALCA_DEBUG = True
 DEBUG_INFO = "step {step} of {total_steps}: direction = {ALCA_direction} | using visual = {ALCA_use_visual} | over line = {ALCA_over_line} | lane width = {ALCA_lane_width} | left to move = {left_to_move} | from center = {from_center} | C2 offset = {ALCA_OFFSET_C2} | C1 offset = {ALCA_OFFSET_C1} | Prob Low = {prob_low} | Prob High = {prob_high}"
 
+
 class ALCAController():
   def __init__(self,carcontroller,alcaEnabled,steerByAngle):
     #import settings
@@ -309,7 +310,6 @@ def update(self, v_ego, md, r_poly, l_poly, r_prob, l_prob, lane_width, p_poly):
       if socket is self.alcaStatus:
         self.alcas = tesla.ALCAStatus.from_bytes(socket.recv())
 
-
     #if we don't have yet ALCA status, return same values
     if self.alcas is None:
       self.send_state()
@@ -352,7 +352,10 @@ def update(self, v_ego, md, r_poly, l_poly, r_prob, l_prob, lane_width, p_poly):
         self.ALCA_error = False
 
     if self.ALCA_enabled and not (self.ALCA_direction == 0):
+
       self.ALCA_step += 1 #ALCA_increment
+
+
       if (self.ALCA_step < 0) or (self.ALCA_step >= self.ALCA_total_steps):
         #done so end ALCA
         self.debug_alca(" step out of bounds -> resetting...")
@@ -417,6 +420,7 @@ def update(self, v_ego, md, r_poly, l_poly, r_prob, l_prob, lane_width, p_poly):
       r_poly[2] += self.ALCA_OFFSET_C2
       l_poly[1] += self.ALCA_OFFSET_C1
       r_poly[1] += self.ALCA_OFFSET_C1
+
     else:
       self.reset_alca()
       self.ALCA_error = False

diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
@@ -217,6 +217,7 @@ def get_params(candidate, fingerprint, vin="", is_panda_black=False):
     ret.steerLimitAlert = False
     ret.startAccel = 0.5
     ret.steerRateCost = 1.0
+
     ret.radarOffCan = not CarSettings().get_value("useTeslaRadar")
 
     return ret

diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
@@ -47,6 +47,7 @@ def _create_radard_can_parser():
 
   checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [6]*(msg_a_n + msg_b_n)))
 
+
   return CANParser(os.path.splitext(dbc_f)[0].encode('utf8'), signals, checks, 1)
 
 
@@ -82,6 +83,7 @@ def update(self, can_strings):
     if not self.useTeslaRadar:
       time.sleep(0.05)
       return car.RadarData.new_message(),self.extPts.values()
+
     if can_strings != None:
       vls = self.rcp.update_strings(can_strings)
       self.updated_messages.update(vls)
@@ -93,7 +95,7 @@ def update(self, can_strings):
       return None,None
 
     rr,rrext = self._update(self.updated_messages)
-    self.updated_messages.clear()
+    #self.updated_messages.clear()
     return rr,rrext