merge devel

README.md

@@ -64,6 +64,7 @@ Supported Cars
 | Acura                | RDX 2018                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Chevrolet<sup>3</sup>| Malibu 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Volt 2017-18            | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Holden<sup>3</sup>   | Astra 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Honda                | Accord 2018             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
 | Honda                | Civic 2016-18           | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
 | Honda                | Civic 2017-18 *(Hatch)* | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |

RELEASES.md

@@ -7,6 +7,7 @@ Version 0.5.6 (2018-11-16)
  * More tuning to Honda positive accelerations
  * Reduce brake pump use on Hondas
  * Chevrolet Malibu support thanks to tylergets!
+ * Holden Astra support thanks to AlexHill!
 
 Version 0.5.5 (2018-10-20)
 ========================

selfdrive/car/gm/carcontroller.py

@@ -10,7 +10,7 @@
 
 class CarControllerParams():
   def __init__(self, car_fingerprint):
-    if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+    if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
       self.STEER_MAX = 300
       self.STEER_STEP = 2              # how often we update the steer cmd
       self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
@@ -104,7 +104,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       self.apply_steer_last = apply_steer
       idx = (frame / P.STEER_STEP) % 4
 
-      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
         can_sends.append(gmcan.create_steering_control(self.packer_pt,
           canbus.powertrain, apply_steer, idx, lkas_enabled))
       if self.car_fingerprint == CAR.CADILLAC_CT6:
@@ -113,7 +113,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
 
     ### GAS/BRAKE ###
 
-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
       # no output if not enabled, but keep sending keepalive messages
       # treat pedals as one
       final_pedal = actuators.gas - actuators.brake

selfdrive/car/gm/carstate.py

@@ -34,12 +34,15 @@ def get_powertrain_can_parser(CP, canbus):
   if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU):
     signals += [
       ("RegenPaddle", "EBCMRegenPaddle", 0),
+    ]
+  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+    signals += [
       ("TractionControlOn", "ESPStatus", 0),
       ("EPBClosed", "EPBStatus", 0),
       ("CruiseMainOn", "ECMEngineStatus", 0),
       ("CruiseState", "AcceleratorPedal2", 0),
     ]
-  elif CP.carFingerprint == CAR.CADILLAC_CT6:
+  if CP.carFingerprint == CAR.CADILLAC_CT6:
     signals += [
       ("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
     ]
@@ -117,14 +120,17 @@ def update(self, pt_cp):
     self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
     self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
 
-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
       self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
       self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
       self.acc_active = False
       self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
-      self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
       self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
-    else:
+      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+        self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
+      else:
+        self.regen_pressed = False
+    if self.car_fingerprint == CAR.CADILLAC_CT6:
       self.park_brake = False
       self.main_on = False
       self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']

selfdrive/car/gm/interface.py

@@ -12,15 +12,6 @@
 except ImportError:
   CarController = None
 
-# Car chimes, beeps, blinker sounds etc
-class CM:
-  TOCK = 0x81
-  TICK = 0x82
-  LOW_BEEP = 0x84
-  HIGH_BEEP = 0x85
-  LOW_CHIME = 0x86
-  HIGH_CHIME = 0x87
-
 class CanBus(object):
   def __init__(self):
     self.powertrain = 0
@@ -77,7 +68,7 @@ def get_params(candidate, fingerprint):
     if candidate == CAR.VOLT:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      # kg of standard extra cargo to count for drive, gas, etc...
+      # kg of standard extra cargo to count for driver, gas, etc...
       ret.mass = 1607 + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.gm
       ret.wheelbase = 2.69
@@ -95,10 +86,21 @@ def get_params(candidate, fingerprint):
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4 # wild guess
 
+    elif candidate == CAR.HOLDEN_ASTRA:
+      # kg of standard extra cargo to count for driver, gas, etc...
+      ret.mass = 1363 + std_cargo
+      ret.wheelbase = 2.662
+      # Remaining parameters copied from Volt for now
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.steerRatio = 15.7
+      ret.steerRatioRear = 0.
+
     elif candidate == CAR.CADILLAC_CT6:
       # engage speed is decided by pcm
       ret.minEnableSpeed = -1
-      # kg of standard extra cargo to count for drive, gas, etc...
+      # kg of standard extra cargo to count for driver, gas, etc...
       ret.mass = 4016. * CV.LB_TO_KG + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.cadillac
       ret.wheelbase = 3.11
@@ -264,8 +266,7 @@ def update(self, c):
     if ret.seatbeltUnlatched:
       events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
-    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
-
+    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
       if self.CS.brake_error:
         events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
       if not self.CS.gear_shifter_valid:

selfdrive/car/gm/radar_interface.py

@@ -22,7 +22,7 @@
 def create_radard_can_parser(canbus, car_fingerprint):
 
   dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
     # C1A-ARS3-A by Continental
     radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
     signals = zip(['FLRRNumValidTargets',

selfdrive/car/gm/values.py

@@ -4,6 +4,7 @@
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
 class CAR:
+  HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
   MALIBU = "CHEVROLET MALIBU PREMIER 2017"
@@ -36,7 +37,7 @@ class CM:
 
 def is_eps_status_ok(eps_status, car_fingerprint):
   valid_eps_status = []
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
     valid_eps_status += [0, 1]
   elif car_fingerprint == CAR.CADILLAC_CT6:
     valid_eps_status += [0, 1, 4, 5, 6]
@@ -55,6 +56,10 @@ def parse_gear_shifter(can_gear):
     return car.CarState.GearShifter.unknown
 
 FINGERPRINTS = {
+  # Astra BK MY17, ASCM unplugged
+  CAR.HOLDEN_ASTRA: [{
+    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
+  }],
   CAR.VOLT: [
   # Volt Premier w/ ACC 2017
   {
@@ -77,12 +82,14 @@ def parse_gear_shifter(can_gear):
 STEER_THRESHOLD = 1.0
 
 STOCK_CONTROL_MSGS = {
+  CAR.HOLDEN_ASTRA: [384, 715],
   CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
 }
 
 DBC = {
+  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),

selfdrive/car/honda/interface.py

@@ -494,12 +494,15 @@ def update(self, c):
         events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     else:
       self.can_invalid_count = 0
+
     if not self.CS.cam_can_valid and self.CP.enableCamera:
       self.cam_can_invalid_count += 1
-      if self.cam_can_invalid_count >= 5 and self.CS.CP.carFingerprint not in HONDA_BOSCH:
+      # wait 1.0s before throwing the alert to avoid it popping when you turn off the car
+      if self.cam_can_invalid_count >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH:
         events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     else:
       self.cam_can_invalid_count = 0
+
     if self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif self.CS.steer_warning:

selfdrive/controls/controlsd.py

@@ -25,17 +25,12 @@
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.driver_monitor import DriverStatus
+from selfdrive.locationd.calibration_values import Calibration, Filter
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.Live100Data.ControlState
 
 
-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
 def isActive(state):
   """Check if the actuators are enabled"""
   return state in [State.enabled, State.softDisabling]
@@ -293,7 +288,10 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
     extra_text_1, extra_text_2 = "", ""
     if e == "calibrationIncomplete":
       extra_text_1 = str(cal_perc) + "%"
-      extra_text_2 = "35 kph" if is_metric else "15 mph"
+      if is_metric:
+        extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_KPH))) + " kph"
+      else:
+        extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_MPH))) + " mph"
     AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
 
   AM.process_alerts(sec_since_boot())

selfdrive/controls/lib/planner.py

@@ -449,9 +449,9 @@ def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel):
     if self.model_dead:
       events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if self.radar_dead or 'commIssue' in self.radar_errors:
-      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if 'fault' in self.radar_errors:
-      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if LaC.mpc_solution[0].cost > 10000. or LaC.mpc_nans:   # TODO: find a better way to detect when MPC did not converge
       events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
 

selfdrive/locationd/calibration_values.py

@@ -0,0 +1,11 @@
+import math
+
+class Filter:
+  MIN_SPEED = 7 # m/s  (~15.5mph)
+  MAX_YAW_RATE = math.radians(3) # per second
+
+class Calibration:
+  UNCALIBRATED = 0
+  CALIBRATED = 1
+  INVALID = 2
+

selfdrive/locationd/calibrationd.py

@@ -3,10 +3,10 @@
 import zmq
 import cv2
 import copy
-import math
 import json
 import numpy as np
 import selfdrive.messaging as messaging
+from selfdrive.locationd.calibration_values import Calibration, Filter
 from selfdrive.swaglog import cloudlog
 from selfdrive.services import service_list
 from common.params import Params
@@ -17,8 +17,6 @@
                                           eon_intrinsics, get_calib_from_vp, normalize, denormalize, H, W
 
 
-MIN_SPEED_FILTER = 7 # m/s  (~15.5mph)
-MAX_YAW_RATE_FILTER = math.radians(3) # per second
 FRAMES_NEEDED = 120  # allow to update VP every so many frames
 VP_CYCLES_NEEDED = 2
 CALIBRATION_CYCLES_NEEDED = FRAMES_NEEDED * VP_CYCLES_NEEDED
@@ -42,12 +40,6 @@
 ffi, lib = ffi_wrap('get_vp', c_code, c_header)
 
 
-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
 def increment_grid_c(grid, lines, n):
   lib.increment_grid(ffi.cast("double *", grid.ctypes.data),
                 ffi.cast("double *", lines.ctypes.data),
@@ -131,8 +123,8 @@ def rescale_grid(self):
 
   def update(self, uvs, yaw_rate, speed):
     if len(uvs) < 10 or \
-       abs(yaw_rate) > MAX_YAW_RATE_FILTER or \
-       speed < MIN_SPEED_FILTER:
+       abs(yaw_rate) > Filter.MAX_YAW_RATE or \
+       speed < Filter.MIN_SPEED:
       return
     rot_speeds = np.array([0.,0.,-yaw_rate])
     uvs[:,1,:] = denormalize(correct_pts(normalize(uvs[:,1,:]), rot_speeds, self.dt))