Merge branch '088-release' into release

selfdrive/controls/lib/latcontrol_pid.py

@@ -1,17 +1,16 @@
 import math
 
-from selfdrive.controls.lib.pid import LatPIDController
+from selfdrive.controls.lib.pid import PIController
 from selfdrive.controls.lib.drive_helpers import get_steer_max
 from cereal import log
 
 
 class LatControlPID():
   def __init__(self, CP):
-    self.pid = LatPIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
-                                (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
-                                (CP.lateralTuning.pid.kdBP, CP.lateralTuning.pid.kdV),
-                                k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0,
-                                sat_limit=CP.steerLimitTimer)
+    self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
+                            (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
+                            k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0,
+                            sat_limit=CP.steerLimitTimer)
 
   def reset(self):
     self.pid.reset()
@@ -24,7 +23,8 @@ def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvatur
     angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
     angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
 
-    if CS.vEgo < 0.3 or not active or not CS.lkasEnable:
+    pid_log.angleError = angle_steers_des - CS.steeringAngleDeg
+    if CS.vEgo < 0.3 or not active:
       output_steer = 0.0
       pid_log.active = False
       self.pid.reset()
@@ -36,8 +36,6 @@ def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvatur
       # TODO: feedforward something based on lat_plan.rateSteers
       steer_feedforward = angle_steers_des_no_offset  # offset does not contribute to resistive torque
       steer_feedforward *= CS.vEgo**2  # proportional to realigning tire momentum (~ lateral accel)
-      #_c1, _c2, _c3 = [0.35189607550172824, 7.506201251644202, 69.226826411091]
-      #steer_feedforward *= _c1 * CS.vEgo ** 2 + _c2 * CS.vEgo + _c3
 
       deadzone = 0.0
 
@@ -51,4 +49,4 @@ def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvatur
       pid_log.output = output_steer
       pid_log.saturated = bool(self.pid.saturated)
 
-    return output_steer, angle_steers_des, pid_log
+    return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/longcontrol.py

@@ -1,6 +1,6 @@
 from cereal import log
 from common.numpy_fast import clip, interp
-from selfdrive.controls.lib.pid import LongPIController
+from selfdrive.controls.lib.pid import PIController
 from selfdrive.controls.lib.drive_helpers import CONTROL_N
 from selfdrive.modeld.constants import T_IDXS
 

selfdrive/thermald/eon_battery_manager.py

@@ -8,21 +8,22 @@ def setEONChargingStatus(car_voltage_mV, batteryPercent) :
         if car_voltage_mV is None or batteryPercent is None :
             HARDWARE.set_battery_charging(True)
             return
-        #print( "car_voltage_mV:",car_voltage_mV)
-        #print( "batteryPercent:",batteryPercent)
-        #print( "VBATT_PAUSE_CHARGING:",VBATT_PAUSE_CHARGING)
-        #print("VBATT_PAUSE_CHARGING * 1e3:", VBATT_PAUSE_CHARGING * 1e3)
+        # print( "car_voltage_mV:",car_voltage_mV)
+        # print( "batteryPercent:",batteryPercent)
+        # print( "VBATT_PAUSE_CHARGING:",VBATT_PAUSE_CHARGING)
+        # print("VBATT_PAUSE_CHARGING * 1e3:", VBATT_PAUSE_CHARGING * 1e3)
         if HARDWARE.get_battery_charging() :
-            #print("log purpose : HARDWARE.get_battery_charging()  True ")
+            # print("log purpose : HARDWARE.get_battery_charging()  True ")
             # if batteryPercent > BATT_PERC_MAX or car_voltage_mV  < VBATT_PAUSE_CHARGING * 1e3 :
             if batteryPercent > BATT_PERC_MAX : #or car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3:
-                #print("log purpose : HARDWARE.set_battery_charging(False)  False ")
+                # print("log purpose : HARDWARE.set_battery_charging(False)  False ")
                 HARDWARE.set_battery_charging(False)
                 return
         else :
-            #print("log purpose : HARDWARE.get_battery_charging()  False ")
+            # print("log purpose : HARDWARE.get_battery_charging()  False ")
             #if batteryPercent < BATT_PERC_MIN and car_voltage_mV  > VBATT_PAUSE_CHARGING * 1e3:
             if batteryPercent < BATT_PERC_MIN :#and car_voltage_mV > VBATT_PAUSE_CHARGING * 1e3:
                 #print("log purpose : HARDWARE.set_battery_charging(True)  True ")
                 HARDWARE.set_battery_charging(True)
                 return
+

selfdrive/thermald/thermald.py

@@ -409,11 +409,12 @@ def thermald_thread():
     msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(pandaState, off_ts)
 
     # Set EON charging disable
-    # based on kegman, 차량 저압배터리의 전압, 이온 배터리 퍼센티지,
+    # based on kegman, ���� ���й��͸��� ����, �̿� ���͸� �ۼ�Ƽ��,
     if EON:
       from selfdrive.thermald.eon_battery_manager import setEONChargingStatus
       setEONChargingStatus(power_monitor.car_voltage_mV, msg.deviceState.batteryPercent)
 
+
     # Check if we need to shut down
     if power_monitor.should_shutdown(pandaState, off_ts, started_seen):
       cloudlog.info(f"shutting device down, offroad since {off_ts}")

selfdrive/ui/qt/sidebar.cc

@@ -92,7 +92,7 @@ void Sidebar::updateState(const UIState &s) {
   } else {
     network_str = net_type;
   }
-  temp_val = deviceState.getAmbientTempC();
+//  temp_val = deviceState.getAmbientTempC();
   batt_perc = deviceState.getBatteryPercent();
   setProperty("tempVal", deviceState.getAmbientTempC());
 
@@ -123,15 +123,16 @@ void Sidebar::paintEvent(QPaintEvent *event) {
 
   configFont(p, "Open Sans", 35, "Regular");
   p.setPen(QColor(0xff, 0xff, 0xff));
-  const QRect r = QRect(50, 247, 100, 50);
-  p.drawText(r, Qt::AlignCenter, net_type);
+  const QRect r = QRect(25, 247, 250, 50);
+
+  p.drawText(r, Qt::AlignCenter, network_str);
 
   // metrics
-//  drawMetric(p, "TEMP", temp_status.first, temp_status.second, 338);
-//  drawMetric(p, panda_status.first, "", panda_status.second, 518);
-//  drawMetric(p, connect_status.first, "", connect_status.second, 676);
+//  drawMetric(p, temp_status.first, temp_status.second, 338);
+//  drawMetric(p, panda_status.first,  panda_status.second, 518);
+//  drawMetric(p, connect_status.first, connect_status.second, 676);
   QString batt_perc_qstring = QString("BATT: %1 %2").arg(batt_perc).arg("%");
-  drawMetric(p, batt_perc_qstring, QString("%1°C").arg(temp_val), temp_status.second, 338);
-  drawMetric(p, panda_status.first, "", panda_status.second, 518);
-  drawMetric(p, "네트워크\n" + connect_status.first, "", connect_status.second, 676);
+  drawMetric(p, batt_perc_qstring +"\n"+ QString("%1°C").arg((double)temp_val,4,'f',1), temp_status.second, 338);
+  drawMetric(p, panda_status.first,  panda_status.second, 518);
+  drawMetric(p, "네트워크\n" + connect_status.first, connect_status.second, 676);
 }