Merge pull request commaai#210 from ShaneSmiskol/release2

Stop and go smoothness

selfdrive/car/car_helpers.py

@@ -83,7 +83,7 @@ def fingerprint(logcan, timeout):
     time.sleep(0.01)
   try:
     with open("/data/kegman.json", "r") as f:
-      cloudlog.warning(f.read())
+      cloudlog.warning(str(f.read()))
     f.close()
   except:
     pass

selfdrive/car/toyota/interface.py

@@ -236,12 +236,6 @@ def get_params(candidate, fingerprint):
     #detect the Pedal address
     ret.enableGasInterceptor = 0x201 in fingerprint
 
-    try:
-      with open("/data/openpilot/gas-interceptor", "w") as f:  # write if the user has a pedal installed for d-f exception in planner
-        f.write(str(ret.enableGasInterceptor))
-    except:
-      pass
-
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS

selfdrive/controls/lib/long_mpc.py

@@ -33,12 +33,6 @@ def __init__(self, mpc_id, live_longitudinal_mpc):
     self.relative_distance = None
     #self.dict_builder = {}
 
-    try:
-      with open("/data/openpilot/gas-interceptor", "r") as f:
-        self.gas_interceptor = bool(f.read())
-    except:
-      self.gas_interceptor = False
-
   def save_car_data(self, self_vel):
     if len(self.dynamic_follow_dict["self_vels"]) >= 200:  # 100hz, so 200 items is 2 seconds
       del self.dynamic_follow_dict["self_vels"][0]
@@ -69,7 +63,7 @@ def calculate_tr(self, v_ego, car_state):
     """
 
     read_distance_lines = car_state.readdistancelines
-    if v_ego < 2.0 and read_distance_lines != 2 and self.gas_interceptor:  # if under 2m/s, not dynamic follow, and user has comma pedal
+    if v_ego < 2.0:  # if under 2m/s
       return 1.8  # under 7km/hr use a TR of 1.8 seconds
 
     if car_state.leftBlinker or car_state.rightBlinker:  # if car is changing lanes and not already .9s

selfdrive/controls/lib/longcontrol.py

@@ -108,18 +108,18 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
 
     if dynamic and v_rel is not None:  # dynamic gas profile specific operations, and if lead
       if (v_ego) < 8.94086:  # if under 20 mph
-        x = [0.0, 0.61945, 1.15771, 1.61479, 1.99067, 2.28537, 2.49888, 2.6312, 2.68224]
-        y = [-accel, -(accel / 1.04), -(accel / 1.095), -(accel / 1.195), -(accel / 1.36), -(accel / 1.69), -(accel / 2.35), -(accel / 4.4), 0]  # array that matches current chosen accel value
+        x = [1.61479, 1.99067, 2.28537, 2.49888, 2.6312, 2.68224]
+        y = [-accel, -(accel / 1.06), -(accel / 1.2), -(accel / 1.8), -(accel / 4.4), 0]  # array that matches current chosen accel value
         accel += interp(v_rel, x, y)
       else:
         x = [-0.89408, 0, 0.89408, 4.4704]
         y = [-.15, -.05, .005, .05]
         accel += interp(v_rel, x, y)
 
 
-    min_return = 0.01
+    min_return = 0.0
     max_return = 1.0
-    return round(max(min(accel, max_return), min_return), 4)  # ensure we return a value between range
+    return round(max(min(accel, max_return), min_return), 5)  # ensure we return a value between range
 
   def update(self, active, v_ego, brake_pressed, standstill, cruise_standstill, v_cruise, v_target, v_target_future,
              a_target, CP, gasinterceptor, gasbuttonstatus):

selfdrive/crash.py

@@ -28,8 +28,14 @@ def install():
       auth = json.loads(f.read())
     f.close()
     auth = json.loads(auth['commaUser'])
-    error_tags['username'] = auth['username'].decode('utf-8', 'ignore')
-    error_tags['email'] = auth['email']
+    try:
+      error_tags['username'] = auth['username'].decode('utf-8', 'ignore')
+    except:
+      pass
+    try:
+      error_tags['email'] = auth['email']
+    except:
+      pass
   except:
     pass
 

selfdrive/kegman_conf.py

@@ -1,6 +1,7 @@
 import json
 import os
 import threading
+from selfdrive.swaglog import cloudlog
 lock = threading.Lock()
 
 class kegman_conf():
@@ -9,14 +10,14 @@ def __init__(self):
 
   def read_config(self):
     self.element_updated = False
-    self.default_config = {"cameraOffset":"0.06", "lastTrMode":"1", "battChargeMin":"90", "battChargeMax":"95", "wheelTouchSeconds":"1800", "battPercOff":"25", "carVoltageMinEonShutdown":"11200", "brakeStoppingTarget":"0.25", "angle_steers_offset":"0" , "brake_distance_extra":"1" , "lastALCAMode":"1" , "brakefactor":"1.2", "lastGasMode":"0" , "lastSloMode":"1", "leadDistance":"5"}
+    default_config = {"cameraOffset":"0.06", "lastTrMode":"1", "battChargeMin":"90", "battChargeMax":"95", "wheelTouchSeconds":"1800", "battPercOff":"25", "carVoltageMinEonShutdown":"11200", "brakeStoppingTarget":"0.25", "angle_steers_offset":"0" , "brake_distance_extra":"1" , "lastALCAMode":"1" , "brakefactor":"1.2", "lastGasMode":"0" , "lastSloMode":"1", "leadDistance":"5"}
 
     if os.path.isfile('/data/kegman.json'):
       with open('/data/kegman.json', 'r') as f:
         try:
           self.config = json.load(f)
         except:
-          self.config = self.default_config
+          self.config = default_config
       if "battPercOff" not in self.config:
         self.config.update({"battPercOff":"25"})
         self.element_updated = True
@@ -66,7 +67,7 @@ def read_config(self):
         self.write_config(self.config)
 
     else:
-      self.config = self.default_config
+      self.config = default_config
       self.write_config(self.config)
     return self.config