Merge branch 'master' of github.com:commaai/openpilot into vipc-python

.pylintrc

@@ -54,7 +54,7 @@ confidence=
 # --enable=similarities". If you want to run only the classes checker, but have
 # no Warning level messages displayed, use"--disable=all --enable=classes
 # --disable=W"
-disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,W1201,W1203,E1136
+disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
 
 
 # Enable the message, report, category or checker with the given id(s). You can

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -728,8 +728,10 @@ static void camera_open(CameraState *s) {
     int ret = cam_control(s->csiphy_fd, CAM_CONFIG_DEV, &config_dev_cmd, sizeof(config_dev_cmd));
     assert(ret == 0);
 
-    release(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
-    release(s->multi_cam_state->video0_fd, cam_packet_handle);
+    munmap(csiphy_info, buf_desc[0].size);
+    release_fd(s->multi_cam_state->video0_fd, buf_desc[0].mem_handle);
+    munmap(pkt, size);
+    release_fd(s->multi_cam_state->video0_fd, cam_packet_handle);
   }
 
   // link devices
@@ -751,12 +753,12 @@ static void camera_open(CameraState *s) {
   ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control));
   LOGD("link control: %d", ret);
 
-  LOGD("start csiphy: %d", ret);
   ret = device_control(s->csiphy_fd, CAM_START_DEV, s->session_handle, s->csiphy_dev_handle);
-  LOGD("start isp: %d", ret);
+  LOGD("start csiphy: %d", ret);
   ret = device_control(s->multi_cam_state->isp_fd, CAM_START_DEV, s->session_handle, s->isp_dev_handle);
-  LOGD("start sensor: %d", ret);
+  LOGD("start isp: %d", ret);
   ret = device_control(s->sensor_fd, CAM_START_DEV, s->session_handle, s->sensor_dev_handle);
+  LOGD("start sensor: %d", ret);
 
   enqueue_req_multi(s, 1, FRAME_BUF_COUNT, 0);
 }

selfdrive/car/chrysler/interface.py

@@ -6,10 +6,6 @@
 
 
 class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/ford/interface.py

@@ -7,11 +7,6 @@
 
 
 class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/gm/carcontroller.py

@@ -46,18 +46,13 @@ def update(self, enabled, CS, frame, actuators,
 
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
-    # GAS/BRAKE
-    # no output if not enabled, but keep sending keepalive messages
-    # treat pedals as one
-    final_pedal = actuators.gas - actuators.brake
-
     if not enabled:
       # Stock ECU sends max regen when not enabled.
       apply_gas = P.MAX_ACC_REGEN
       apply_brake = 0
     else:
-      apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
-      apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
+      apply_gas = int(round(interp(actuators.accel, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
+      apply_brake = int(round(interp(actuators.accel, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
 
     # Gas/regen and brakes - all at 25Hz
     if (frame % 4) == 0:

selfdrive/car/gm/interface.py

@@ -11,10 +11,6 @@
 
 class CarInterface(CarInterfaceBase):
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/gm/values.py

@@ -26,9 +26,9 @@ def __init__(self):
     ZERO_GAS = 2048
     MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
     self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
-    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
+    self.GAS_LOOKUP_BP = [-1.0, 0., 2.0]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-    self.BRAKE_LOOKUP_BP = [-1., -0.25]
+    self.BRAKE_LOOKUP_BP = [-4., -1.0]
     self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
 
 class CAR:

selfdrive/car/honda/carcontroller.py

@@ -5,13 +5,35 @@
 from common.numpy_fast import clip, interp
 from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import OLD_NIDEC_LONG_CONTROL, CruiseButtons, CAR, VISUAL_HUD, HONDA_BOSCH, CarControllerParams
+from selfdrive.car.honda.values import OLD_NIDEC_LONG_CONTROL, CruiseButtons, VISUAL_HUD, HONDA_BOSCH, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-# TODO: not clear this does anything useful
+def compute_gb_honda_bosch(accel, speed):
+  #TODO returns 0s, is unused
+  return 0.0, 0.0
+
+
+def compute_gb_honda_nidec(accel, speed):
+  creep_brake = 0.0
+  creep_speed = 2.3
+  creep_brake_value = 0.15
+  if speed < creep_speed:
+    creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
+  gb = float(accel) / 4.8 - creep_brake
+  return clip(gb, 0.0, 1.0), clip(-gb, 0.0, 1.0)
+
+
+def compute_gas_brake(accel, speed, fingerprint):
+  if fingerprint in HONDA_BOSCH:
+    return compute_gb_honda_bosch(accel, speed)
+  else:
+    return compute_gb_honda_nidec(accel, speed)
+
+
+#TODO not clear this does anything useful
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params
   brake_hyst_on = 0.02     # to activate brakes exceed this value
@@ -32,9 +54,6 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
     brake_steady = brake + brake_hyst_gap
   brake = brake_steady
 
-  if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV, CAR.CRV_EU)) and brake > 0.0:
-    brake += 0.15
-
   return brake, braking, brake_steady
 
 
@@ -94,8 +113,15 @@ def update(self, enabled, CS, frame, actuators,
 
     P = self.params
 
+    if enabled:
+      accel = actuators.accel
+      gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, CS.CP.carFingerprint)
+    else:
+      accel = 0.0
+      gas, brake = 0.0, 0.0
+
     # *** apply brake hysteresis ***
-    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.out.vEgo, CS.CP.carFingerprint)
+    pre_limit_brake, self.braking, self.brake_steady = actuator_hystereses(brake, self.braking, self.brake_steady, CS.out.vEgo, CS.CP.carFingerprint)
 
     # *** no output if not enabled ***
     if not enabled and CS.out.cruiseState.enabled:
@@ -107,7 +133,7 @@ def update(self, enabled, CS, frame, actuators,
     pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.pcmCruise
 
     # *** rate limit after the enable check ***
-    self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)
+    self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
 
     # vehicle hud display, wait for one update from 10Hz 0x304 msg
     if hud_show_lanes:
@@ -147,18 +173,13 @@ def update(self, enabled, CS, frame, actuators,
       lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
 
 
-    accel = actuators.gas - actuators.brake
 
     # TODO: pass in LoC.long_control_state and use that to decide starting/stoppping
     stopping = accel < 0 and CS.out.vEgo < 0.3
     starting = accel > 0 and CS.out.vEgo < 0.3
 
     # Prevent rolling backwards
-    accel = -1.0 if stopping else accel
-    if CS.CP.carFingerprint in HONDA_BOSCH:
-      apply_accel = interp(accel, P.BOSCH_ACCEL_LOOKUP_BP, P.BOSCH_ACCEL_LOOKUP_V)
-    else:
-      apply_accel = interp(accel, P.NIDEC_ACCEL_LOOKUP_BP, P.NIDEC_ACCEL_LOOKUP_V)
+    accel = -4.0 if stopping else accel
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@@ -167,14 +188,15 @@ def update(self, enabled, CS, frame, actuators,
       pcm_accel = int(clip(pcm_accel, 0, 1) * 0xc6)
     else:
       max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
-      pcm_accel = int(clip(apply_accel/max_accel, 0.0, 1.0) * 0xc6)
+      # TODO this 1.44 is just to maintain previous behavior
+      pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
       pcm_speed_BP = [-wind_brake,
                       -wind_brake*(3/4),
                       0.0]
       pcm_speed_V = [0.0,
-                     clip(CS.out.vEgo + apply_accel/2.0 - 2.0, 0.0, 100.0),
-                     clip(CS.out.vEgo + apply_accel/2.0 + 2.0, 0.0, 100.0)]
-      pcm_speed = interp(accel, pcm_speed_BP, pcm_speed_V)
+                     clip(CS.out.vEgo + accel/2.0 - 2.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + accel/2.0 + 2.0, 0.0, 100.0)]
+      pcm_speed = interp(-brake, pcm_speed_BP, pcm_speed_V)
 
     if not CS.CP.openpilotLongitudinalControl:
       if (frame % 2) == 0:
@@ -193,8 +215,8 @@ def update(self, enabled, CS, frame, actuators,
         ts = frame * DT_CTRL
 
         if CS.CP.carFingerprint in HONDA_BOSCH:
-          apply_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
-          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, apply_accel, apply_gas, idx, stopping, starting, CS.CP.carFingerprint))
+          bosch_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
+          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint))
 
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
@@ -209,7 +231,7 @@ def update(self, enabled, CS, frame, actuators,
             gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
             # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
             # This prevents unexpected pedal range rescaling
-            apply_gas = clip(gas_mult * actuators.gas, 0., 1.)
+            apply_gas = clip(gas_mult * gas, 0., 1.)
             can_sends.append(create_gas_command(self.packer, apply_gas, idx))
 
     hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,

selfdrive/car/honda/interface.py

@@ -15,38 +15,7 @@
 TransmissionType = car.CarParams.TransmissionType
 
 
-def compute_gb_honda_bosch(accel, speed):
-  return float(accel) / 3.5
-
-
-def compute_gb_honda_nidec(accel, speed):
-  creep_brake = 0.0
-  creep_speed = 2.3
-  creep_brake_value = 0.15
-  if speed < creep_speed:
-    creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
-  return float(accel) / 4.8 - creep_brake
-
-
-def compute_gb_acura(accel, speed):
-  GB_VALUES = [-2., 0.0, 0.8]
-  GB_BP = [-5., 0.0, 4.0]
-  return interp(accel, GB_BP, GB_VALUES)
-
-
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    if self.CS.CP.carFingerprint in HONDA_BOSCH:
-      self.compute_gb = compute_gb_honda_bosch
-    else:
-      self.compute_gb = compute_gb_honda_nidec
-
-  @staticmethod
-  def compute_gb(accel, speed): # pylint: disable=method-hidden
-    raise NotImplementedError
-
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
 
@@ -333,17 +302,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    if candidate in HONDA_BOSCH:
-      ret.gasMaxBP = [0.]  # m/s
-      ret.gasMaxV = [0.6]
-      ret.brakeMaxBP = [0.]  # m/s
-      ret.brakeMaxV = [1.]   # max brake allowed, 3.5m/s^2
-    else:
-      ret.gasMaxBP = [0.]  # m/s
-      ret.gasMaxV = [0.6]  # max gas allowed
-      ret.brakeMaxBP = [5., 20.]  # m/s
-      ret.brakeMaxV = [1., 0.8]   # max brake allowed
-
     ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.1
@@ -422,7 +380,7 @@ def update(self, c, can_strings):
       # we engage when pcm is active (rising edge)
       if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
         events.add(EventName.pcmEnable)
-      elif not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
+      elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
         # it can happen that car cruise disables while comma system is enabled: need to
         # keep braking if needed or if the speed is very low
         if ret.vEgo < self.CP.minEnableSpeed + 2.:

selfdrive/car/honda/values.py

@@ -22,10 +22,7 @@ def __init__(self, CP):
     self.NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
     self.NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
 
-
-    self.BOSCH_ACCEL_LOOKUP_BP = [-1., 0., 0.6]
-    self.BOSCH_ACCEL_LOOKUP_V = [-3.5, 0., 2.]
-    self.BOSCH_GAS_LOOKUP_BP = [0., 0.6]
+    self.BOSCH_GAS_LOOKUP_BP = [0., 2.0]  # 2m/s^2
     self.BOSCH_GAS_LOOKUP_V = [0, 2000]
 
 

selfdrive/car/hyundai/interface.py

@@ -6,11 +6,6 @@
 from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/interfaces.py

@@ -45,10 +45,6 @@ def __init__(self, CP, CarController, CarState):
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
     return 1.
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    raise NotImplementedError
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     raise NotImplementedError
@@ -72,15 +68,11 @@ def get_std_params(candidate, fingerprint):
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
     ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [.5]       # half max brake
-    ret.brakeMaxBP = [0.]
-    ret.brakeMaxV = [1.]
     ret.openpilotLongitudinalControl = False
     ret.startAccel = 0.0
     ret.minSpeedCan = 0.3
-    ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop
-    ret.startingBrakeRate = 0.8 # brake_travel/s while releasing on restart
+    ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
+    ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
     ret.stoppingControl = True
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]

selfdrive/car/nissan/interface.py

@@ -9,10 +9,6 @@ def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
     self.cp_adas = self.CS.get_adas_can_parser(CP)
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
 

selfdrive/car/subaru/interface.py

@@ -6,10 +6,6 @@
 
 class CarInterface(CarInterfaceBase):
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/tesla/interface.py

@@ -6,11 +6,6 @@
 
 
 class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def compute_gb(accel, speed):
-    # TODO: is this correct?
-    return accel
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)