Merge pull request #6 from arne182/dynamic-follow

Dynamic follow

selfdrive/car/car_helpers.py

@@ -5,6 +5,7 @@
 from common.fingerprints import eliminate_incompatible_cars, all_known_cars
 from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
+import selfdrive.crash as crash
 
 def load_interfaces(x):
   ret = {}
@@ -82,6 +83,7 @@ def fingerprint(logcan, timeout):
     time.sleep(0.01)
 
   cloudlog.warning("fingerprinted %s", candidate_cars[0])
+  crash.capture_warning("fingerprinted %s" % candidate_cars[0])
   return (candidate_cars[0], finger)
 
 

selfdrive/car/gm/carstate.py

@@ -72,7 +72,7 @@ def __init__(self, CP, canbus):
     self.prev_left_blinker_on = False
     self.right_blinker_on = False
     self.prev_right_blinker_on = False
-    self.follow_level = 4
+    self.follow_level = 3
     self.prev_lka_button = 0
     self.lka_button = 0
     self.lkMode = True

selfdrive/car/honda/carstate.py

@@ -158,7 +158,7 @@ def __init__(self, CP):
     self.visionMode = 0
     self.trLabels = ["0.9","1.8","2.7","dyn"]
     self.alcaMode = 0
-    self.trMode = 3
+    self.trMode = 1
     #if (CP.carFingerprint == CAR.MODELS):
     # ALCA PARAMS
     # max REAL delta angle for correction vs actuator
@@ -276,7 +276,7 @@ def update_ui_buttons(self,id,btn_status):
 
       elif (id == 4) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="tr":
           if self.cstm_btns.btns[id].btn_label2 == self.trLabels[self.trMode]:
-            self.trMode = (self.trMode + 1 ) % 4
+            self.trMode = (self.trMode + 1 ) % 3
           else:
             self.trMode = 0
           self.cstm_btns.btns[id].btn_label2 = self.trLabels[self.trMode]
@@ -421,8 +421,6 @@ def update(self, cp, cp_cam):
     self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
     if self.cruise_setting == 3:
       if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
-        if self.trMode == 3:
-          self.trMode = 1
         self.trMode = (self.trMode + 1 ) % 3
         self.cstm_btns.btns[4].btn_label2 = self.trLabels[self.trMode]
     self.prev_cruise_setting = self.cruise_setting
@@ -432,11 +430,9 @@ def update(self, cp, cp_cam):
       if self.read_distance_lines == 1:
         self.UE.custom_alert_message(2,"Following distance set to 0.9s",200,3)
       if self.read_distance_lines == 2:
-        self.UE.custom_alert_message(2,"Following distance set to 1.8s",200,3)
+        self.UE.custom_alert_message(2,"Dynamic following distance",200,3)
       if self.read_distance_lines == 3:
         self.UE.custom_alert_message(2,"Following distance set to 2.7s",200,3)
-      if self.read_distance_lines == 4:
-        self.UE.custom_alert_message(2,"Dynamic following distance",200,3)
       self.read_distance_lines_prev = self.read_distance_lines
 
 # carstate standalone tester

selfdrive/car/toyota/carstate.py

@@ -143,7 +143,7 @@ def __init__(self, CP):
     # ALCA PARAMS
     # max REAL delta angle for correction vs actuator
     self.CL_MAX_ANGLE_DELTA_BP = [10., 15., 32., 44.]#[10., 44.]
-    self.CL_MAX_ANGLE_DELTA = [2.0, 1.75, 0.96, 0.4]
+    self.CL_MAX_ANGLE_DELTA = [2.0, 1.65, 0.96, 0.4]
      # adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
     self.CL_ADJUST_FACTOR_BP = [10., 44.]
     self.CL_ADJUST_FACTOR = [16. , 8.]
@@ -367,7 +367,7 @@ def update(self, cp, cp_cam):
     if self.trfix:
       self.read_distance_lines = cp.vl["PCM_CRUISE_SM"]['DISTANCE_LINES']
     else:
-      self.read_distance_lines = 4
+      self.read_distance_lines = 2
     if self.distance_toggle <> self.distance_toggle_prev:
       if self.read_distance_lines == self.distance_toggle:
         self.distance_toggle_prev = self.distance_toggle
@@ -378,11 +378,9 @@ def update(self, cp, cp_cam):
       if self.read_distance_lines == 1:
         self.UE.custom_alert_message(2,"Following distance set to 0.9s",200,3)
       if self.read_distance_lines == 2:
-        self.UE.custom_alert_message(2,"Following distance set to 1.8s",200,3)
+        self.UE.custom_alert_message(2,"Dynamic following distance",200,3)
       if self.read_distance_lines == 3:
         self.UE.custom_alert_message(2,"Following distance set to 2.7s",200,3)
-      if self.read_distance_lines == 4:
-        self.UE.custom_alert_message(2,"Dynamic following distance",200,3)
       self.read_distance_lines_prev = self.read_distance_lines
 
     if bool(cp.vl["JOEL_ID"]['ACC_SLOW']) <> self.acc_slow_on_prev:

selfdrive/controls/lib/planner.py

@@ -290,20 +290,6 @@ def update(self, CS, lead, v_cruise_setpoint):
           self.libmpc.init(MPC_COST_LONG.TTC, 1.0, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
           self.lastTR = CS.readdistancelines
       elif CS.readdistancelines == 2:
-        if CS.readdistancelines == self.lastTR:
-          TR=1.8 # 20m at 40km/hr
-        else:
-          TR=1.8
-          self.libmpc.init(MPC_COST_LONG.TTC, 0.1, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-          self.lastTR = CS.readdistancelines
-      elif CS.readdistancelines == 3:
-        if CS.readdistancelines == self.lastTR:
-          TR = 2.7
-        else:
-          TR = 2.7  # 30m at 40km/hr
-          self.libmpc.init(MPC_COST_LONG.TTC, 0.05, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-          self.lastTR = CS.readdistancelines
-      elif CS.readdistancelines == 4:
         if len(self.speed_list) > 400 and len(self.speed_list) != 0:
           self.speed_list.pop(0)
         self.speed_list.append(CS.vEgo * 2.236936)
@@ -314,6 +300,13 @@ def update(self, CS, lead, v_cruise_setpoint):
         if abs(self.generate_cost(generatedTR)-self.last_cost) > .2:
           self.libmpc.init(MPC_COST_LONG.TTC, self.generate_cost(generatedTR), MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
           self.last_cost = self.generate_cost(generatedTR)
+      elif CS.readdistancelines == 3:
+        if CS.readdistancelines == self.lastTR:
+          TR = 2.7
+        else:
+          TR = 2.7  # 30m at 40km/hr
+          self.libmpc.init(MPC_COST_LONG.TTC, 0.05, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
+          self.lastTR = CS.readdistancelines
       else:
         TR=1.8 # if readdistancelines = 0
     #print TR

selfdrive/crash.py

@@ -17,13 +17,19 @@ def install():
 else:
   from raven import Client
   from raven.transport.http import HTTPTransport
-  client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
+  client = Client('https://137e8e621f114f858f4c392c52e18c6d:8aba82f49af040c8aac45e95a8484970@sentry.io/1404547',
                   install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty})
 
   def capture_exception(*args, **kwargs):
     client.captureException(*args, **kwargs)
     cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
+  def capture_warning(warning_string):
+    client.captureMessage(warning_string, level='warning')
+
+  def capture_info(info_string):
+    client.captureMessage(info_string, level='info')
+
   def bind_user(**kwargs):
     client.user_context(kwargs)