Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

keep up to date with 077 clean #62

Merged
merged 6 commits into from
Sep 11, 2020
Merged

keep up to date with 077 clean #62

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
f398023
Append osm_way_id to data to help with data analysis
arne182 Sep 9, 2020
36c484d
fix typo
arne182 Sep 9, 2020
31d354c
Update op_params.py
oppilot Sep 10, 2020
27766b3
Merge pull request #694 from SCshredder17/patch-13
rav4kumar Sep 11, 2020
02a4ca3
Add RAV4_TSS2 FP's
arne182 Sep 11, 2020
97f9aa8
Add RAV4_TSS2 FPv2
arne182 Sep 11, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion common/op_params.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ def __init__(self):
'use_virtual_middle_line': Param(False, bool, 'For roads over 4m wide, hug right. For roads under 2m wide, hug left.'),
'uniqueID': Param(None, [type(None), str], 'User\'s unique ID'),
'autoUpdate': Param(True, bool, 'Whether to auto-update'),
'corolla_tss2_d_tuning': Param(True, bool, 'lateral spairrowtuning using PID w/ true derivative'),
'corolla_tss2_d_tuning': Param(False, bool, 'lateral tuning using PID w/ true derivative'),
'lat_d': Param(9.0, VT.number, 'The lateral derivative gain, default is 9.0 for TSS2 Corolla. This is active at all speeds', live=True),
'ludicrous_mode': Param(False, bool, 'Double overall acceleration!')}

Expand Down
4 changes: 3 additions & 1 deletion selfdrive/car/toyota/values.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -153,7 +153,7 @@ class ECU:
{36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8}
],
CAR.RAV4_TSS2: [
{36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1809: 8, 1872: 8, 1880:8 , 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8}
{36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1809: 8, 1841: 8, 1849: 8, 1872: 8, 1880:8 , 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8}
],
CAR.COROLLA_TSS2: [
{36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8}
Expand Down Expand Up @@ -855,6 +855,7 @@ class ECU:
b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
],
(Ecu.esp, 0x7b0, None): [
b'F152642520\x00\x00\x00\x00\x00\x00',
Expand All @@ -867,6 +868,7 @@ class ECU:
b'\x01F152642700\x00\x00\x00\x00\x00\x00',
b'\x01F152642710\x00\x00\x00\x00\x00\x00',
b'\x01F152642750\x00\x00\x00\x00\x00\x00',

],
(Ecu.eps, 0x7a1, None): [
b'8965B42170\x00\x00\x00\x00\x00\x00',
Expand Down
14 changes: 8 additions & 6 deletions selfdrive/mapd/mapd.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,9 @@ def __init__(self, threadID, name):
self.logger.setLevel(logging.CRITICAL) # set to logging.DEBUG to enable logging
# self.logger.setLevel(logging.DEBUG) # set to logging.CRITICAL to disable logging

def save_gps_data(self, gps):
def save_gps_data(self, gps, osm_way_id):
try:
location = [gps.speed, gps.bearing, gps.latitude, gps.longitude, gps.altitude, gps.accuracy, time.time()]
location = [gps.speed, gps.bearing, gps.latitude, gps.longitude, gps.altitude, gps.accuracy, time.time(), osm_way_id]
with open("/data/openpilot/selfdrive/data_collection/gps-data", "a") as f:
f.write("{}\n".format(location))
except:
Expand Down Expand Up @@ -395,7 +395,7 @@ def run(self):

if cur_way is not None:
dat.liveMapData.wayId = cur_way.id

self.sharedParams['osm_way_id'] = cur_way.id
# Speed limit
max_speed = cur_way.max_speed(heading)
max_speed_ahead = None
Expand Down Expand Up @@ -435,7 +435,8 @@ def run(self):
if curvature is not None:
dat.liveMapData.roadCurvatureX = [float(x) for x in dists]
dat.liveMapData.roadCurvature = [float(x) for x in curvature]

else:
self.sharedParams['osm_way_id'] = 0
if self.sharedParams['speedLimittrafficvalid']:
if speedLimittraffic > 0.1:
dat.liveMapData.speedLimitValid = True
Expand Down Expand Up @@ -478,7 +479,7 @@ def run(self):
self.sm.update(0)
if self.sm.updated['gpsLocationExternal']:
gps = self.sm['gpsLocationExternal']
self.save_gps_data(gps)
self.save_gps_data(gps, self.sharedParams['osm_way_id'])

query_lock = self.sharedParams.get('query_lock', None)

Expand Down Expand Up @@ -577,12 +578,13 @@ def main():
speedLimittraffic = 0
speedLimittrafficvalid = False
speedLimittrafficAdvisory = 0
osm_way_id = 0
speedLimittrafficAdvisoryvalid = False
sharedParams = {'last_gps' : last_gps, 'query_lock' : query_lock, 'last_query_result' : last_query_result, \
'last_query_pos' : last_query_pos, 'cache_valid' : cache_valid, 'traffic_status' : traffic_status, \
'traffic_confidence' : traffic_confidence, 'last_not_none_signal' : last_not_none_signal, \
'speedLimittraffic' : speedLimittraffic, 'speedLimittrafficvalid' : speedLimittrafficvalid, \
'speedLimittrafficAdvisory' : speedLimittrafficAdvisory, 'speedLimittrafficAdvisoryvalid' : speedLimittrafficAdvisoryvalid}
'speedLimittrafficAdvisory' : speedLimittrafficAdvisory, 'speedLimittrafficAdvisoryvalid' : speedLimittrafficAdvisoryvalid, 'osm_way_id' : osm_way_id}

qt = QueryThread(1, "QueryThread", sharedParams=sharedParams)
mt = MapsdThread(2, "MapsdThread", sharedParams=sharedParams)
Expand Down