Merge pull request commaai#203 from arne182/release2

Update to latest release2

Author: arne182

README.md

@@ -12,12 +12,14 @@ Highlight Features
 
 * **Automatic Lane Change Assist (ALC)**: Check your surroundings, signal in the direction you would like to change lanes, and let openpilot do the rest. You can choose between three ALC profiles, Normal, Wifey, and Mad Max. Each increasing in steering torque.
 * **Stock Lane Keeping Assist (LKA)**: Arne has worked on recreating the lake keeping assist system present in your car for openpilot. It works with cruise control not engaged, attempting to steer to keep you inside your lane when it detects you are departing it.
-* **[Dynamic Following Distance Profile](https://github.com/ShaneSmiskol/openpilot/blob/dynamic-follow/README.md)**: Three following distance (TR) profiles are available to select; 0.9 seconds, 2.7 seconds, and a custom tuned dynamic follow profile. The first two behave as your stock cruise control system does. Dynamic follow aims to provide a more natural feeling drive, adjusting your distance from the lead car based on your speed, your relative velocity with the lead car, and your acceleration (or deceleration). If the system detects the lead car decelerating, your car should start to brake sooner than a hard-coded TR value. Same with accelerating
+* **[Dynamic Following Distance Profile](https://github.com/ShaneSmiskol/openpilot/blob/dynamic-follow/README.md)**: Three following distance (TR) profiles are available to select; 0.9 seconds, 2.7 seconds, and a custom tuned dynamic follow profile. The first two behave as your stock cruise control system does. Dynamic follow aims to provide a more natural feeling drive, adjusting your distance from the lead car based on your speed, your relative velocity with the lead car, and your acceleration (or deceleration). If the system detects the lead car decelerating, your car should start to brake sooner than a hard-coded TR value. Same with accelerating.
 * **Slow Mode (SLO)**: For cars with longitudinal control down to 0 mph, you have the option to activate SLO mode which enables you to set your car's cruise control under your car's limit. For example, you could coast along at 15, 10, or even 5 mph.
-* **Acceleration Profiles (GAS)**: You can select from two acceleration profiles with the GAS button. If your car accelerates too slowly for your liking, this will solve that.
+* **Acceleration Profiles (GAS)**: You can select from three acceleration profiles with the GAS button. If your car accelerates too slowly for your liking, this will solve that. **Recently added**: dynamic acceleration profile for users with comma pedals. This should provide a smoother acceleration experience in stop and go traffic.
 * **Select Vision Model (on 0.5.8, `dynamic-follow` branch only)**: You can select whether you would like to use the wiggly model or the normal vision model for path planning. Wiggly has more torque and can better guess the road curvature without lane lines, but it occasionally crashes or mispredicts the path.
 * **EON and openpilot Stats**: With the on-screen UI, you can view stats about your EON such as its temperature, your grey panda's GPS accuracy, the lead car's relative velocity, its distance, and more.
 
+---
+
 * [Community](#community)
 * [Hardware](#hardware)
 * [Supported Cars](#supported-cars)

op-tools.py

@@ -0,0 +1,55 @@
+import time, sys, json
+from os import system, name
+
+def main_menu():
+    print("Please chooce a category:")
+    while True:
+        print("1. Dynamic follow\n2. GPS\n3. Other")
+        c = input("[1-3]: ")
+        try:
+            int(c)
+        except:
+            return
+        if int(c) - 1 in range(3):
+            break
+    if int(c) == 1:
+        dynamic_follow()
+
+def dynamic_follow():
+    clear()
+    print("\nPress Ctrl + C at any time to quit!")
+    time.sleep(3)
+    try:
+        while True:
+            clear()
+            print("\nDynamic follow data:\n")
+            try:
+                with open("/data/op-tools-data/dynamic-follow.json", "r") as f:
+                    data = json.loads(f.read())
+                    for i in data:
+                        print(i + ": " + str(data[i]))
+            except:
+                print("\nReading error, waiting a second...")
+                time.sleep(1)
+            time.sleep(.15)
+    except KeyboardInterrupt: 
+        print()   
+        main_menu()
+
+def clear(): 
+    # for windows 
+    if name == 'nt': 
+        system('cls') 
+  
+    # for mac and linux(here, os.name is 'posix') 
+    else: 
+        system('clear') 
+    
+
+main_menu()
+
+
+'''while True:
+    sys.stdout.write("\r\r\r" + time.ctime()+"\n"+time.ctime())
+    sys.stdout.flush()
+    time.sleep(1)'''

panda/board/safety/safety_toyota.h

@@ -16,8 +16,8 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const int TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 1800;        // 1.8 m/s2
-const int TOYOTA_MIN_ACCEL = -3600;       // 3.6 m/s2
+const int TOYOTA_MAX_ACCEL = 3500;        // 3.5 m/s2
+const int TOYOTA_MIN_ACCEL = -4000;       // 4.0 m/s2
 
 // global actuation limit state
 int toyota_actuation_limits = 1;          // by default steer limits are imposed

selfdrive/car/car_helpers.py

@@ -81,9 +81,27 @@ def fingerprint(logcan, timeout):
       return None, finger
 
     time.sleep(0.01)
-
-  cloudlog.warning("fingerprinted %s", candidate_cars[0])
+  try:
+    with open("/data/kegman.json", "r") as f:
+      cloudlog.warning(f.read())
+    f.close()
+  except:
+    pass
+  try:
+    with open("/data/params/d/ControlsParams", "r") as f:
+      cloudlog.warning(f.read())
+    f.close()
+  except:
+    pass
+  try:
+    with open("/data/params/d/LiveParameters", "r") as f:
+      cloudlog.warning(f.read())
+    f.close()
+  except:
+    pass
   crash.capture_warning("fingerprinted %s" % candidate_cars[0])
+  cloudlog.warning("fingerprinted %s", candidate_cars[0])
+  
   return (candidate_cars[0], finger)
 
 

selfdrive/car/chrysler/carstate.py

@@ -4,6 +4,7 @@
 from selfdrive.car.modules.UIBT_module import UIButtons,UIButton
 from selfdrive.car.modules.UIEV_module import UIEvents
 import numpy as np
+from selfdrive.kegman_conf import kegman_conf
 
 
 def parse_gear_shifter(can_gear):
@@ -79,8 +80,9 @@ def get_camera_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
+    self.kegman = kegman_conf()
     self.alcaLabels = ["MadMax","Normal","Wifey","off"]
-    self.alcaMode = 2     # default to wifey on startup
+    self.alcaMode = int(self.kegman.conf['lastALCAMode'])
     self.prev_distance_button = 0
     self.distance_button = 0
     self.prev_lka_button = 0
@@ -170,8 +172,12 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 1) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 4
+            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            self.kegman.write_config(self.kegman.conf) 
           else:
             self.alcaMode = 0
+            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            self.kegman.write_config(self.kegman.conf) 
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
           if self.alcaMode == 3:
@@ -183,6 +189,8 @@ def update_ui_buttons(self,id,btn_status):
         self.cstm_btns.btns[id].btn_status = btn_status
         if (id == 1) and self.cstm_btns.btns[id].btn_name=="alca":
           self.alcaMode = (self.alcaMode + 1 ) % 4
+          self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+          self.kegman.write_config(self.kegman.conf) 
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
 

selfdrive/car/honda/carcontroller.py

@@ -8,6 +8,9 @@
 from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker
 from selfdrive.car.modules.ALCA_module import ALCAController
+from selfdrive.kegman_conf import kegman_conf
+
+kegman = kegman_conf()
 
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params
@@ -85,6 +88,7 @@ def __init__(self, dbc_name, enable_camera=True):
     self.enable_camera = enable_camera
     self.packer = CANPacker(dbc_name)
     self.new_radar_config = False
+    self.prev_lead_distance = 0.0
     self.ALCA = ALCAController(self,True,False)  # Enabled  True and SteerByAngle only False
 
   def update(self, sendcan, enabled, CS, frame, actuators, \
@@ -190,7 +194,16 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       if pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx))
       elif CS.stopped:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
+        if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
+          if CS.lead_distance > (self.prev_lead_distance + float(kegman.conf['leadDistance'])):
+            can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
+        elif CS.CP.carFingerprint in (CAR.CIVIC_BOSCH):
+          if CS.hud_lead == 1:
+            can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
+        else:
+          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
+      else:
+        self.prev_lead_distance = CS.lead_distance
 
     else:
       # Send gas and brake commands.

selfdrive/car/honda/carstate.py

@@ -96,7 +96,9 @@ def get_can_signals(CP):
                ("STANDSTILL", 50)]
 
   if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
-    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
+    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1),
+                ("LEAD_DISTANCE", "RADAR_HUD", 0)]
+    checks += [("RADAR_HUD", 50)]
   else:
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
                 ("DOOR_OPEN_FR", "DOORS_STATUS", 1),
@@ -212,6 +214,8 @@ def __init__(self, CP):
     self.user_gas, self.user_gas_pressed = 0., 0
     self.brake_switch_prev = 0
     self.brake_switch_ts = 0
+    self.lead_distance = 255
+    self.hud_lead = 0
 
     self.cruise_buttons = 0
     self.cruise_setting = 0
@@ -308,15 +312,21 @@ def update(self, cp, cp_cam):
     # update prevs, update must run once per loop
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_blinker_on = self.blinker_on
+    self.prev_lead_distance = self.lead_distance
 
     self.prev_left_blinker_on = self.left_blinker_on
     self.prev_right_blinker_on = self.right_blinker_on
 
     # ******************* parse out can *******************
 
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH): # TODO: find wheels moving bit in dbc
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
       self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
+      self.lead_distance = cp.vl["RADAR_HUD"]['LEAD_DISTANCE']
+    elif self.CP.carFingerprint in (CAR.CIVIC_BOSCH):
+      self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
+      self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
+      self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
     else:
       self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
       self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],

selfdrive/car/honda/values.py

@@ -99,7 +99,7 @@ class CAR:
     57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
   }],
   CAR.CRV_5G: [{
-    57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 4, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
+    57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1093: 4, 1115: 4, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
   }],
   # 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
   CAR.ODYSSEY: [{

selfdrive/car/toyota/carstate.py

@@ -154,8 +154,10 @@ def __init__(self, CP):
     self.Angle = [0, 5, 10, 15,20,25,30,35,60,100,180,270,500]
     self.Angle_Speed = [255,160,100,80,70,60,55,50,40,33,27,17,12]
     #labels for gas mode
-    self.gasMode = 0
-    self.gasLabels = ["normal","sport","eco"]
+    self.gasMode = int(self.kegman.conf['lastGasMode'])
+    self.sloMode = int(self.kegman.conf['lastSloMode'])
+    self.sloLabels = ["offset","normal"]
+    self.gasLabels = ["smooth","sport","eco"]
     #labelslabels for ALCA modes
     self.alcaLabels = ["MadMax","Normal","Wifey","off"]
     self.alcaMode = int(self.kegman.conf['lastALCAMode'])     # default to last ALCAmode on startup
@@ -252,7 +254,7 @@ def init_ui_buttons(self):
     btns = []
     btns.append(UIButton("sound", "SND", 0, "", 0))
     btns.append(UIButton("alca", "ALC", 1, self.alcaLabels[self.alcaMode], 1))
-    btns.append(UIButton("slow", "SLO", 1, "", 2))
+    btns.append(UIButton("slow", "SLO", 1, self.sloLabels[self.sloMode], 2))
     btns.append(UIButton("lka", "LKA", 1, "", 3))
     btns.append(UIButton("tr", "TR", 0, "", 4))
     btns.append(UIButton("gas", "GAS", 1, self.gasLabels[self.gasMode], 5))
@@ -273,12 +275,17 @@ def update_ui_buttons(self,id,btn_status):
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
           if self.alcaMode == 3:
-            self.cstm_btns.set_button_status("alca", 0)
+            self.cstm_btns.set_button_status("alca", 0) 
       elif (id == 5) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="gas":
           if self.cstm_btns.btns[id].btn_label2 == self.gasLabels[self.gasMode]:
             self.gasMode = (self.gasMode + 1 ) % 3
+            self.kegman.conf['lastGasMode'] = str(self.gasMode)   # write last GasMode setting to file
+            self.kegman.write_config(self.kegman.conf)
           else:
             self.gasMode = 0
+            self.kegman.conf['lastGasMode'] = str(self.gasMode)   # write last GasMode setting to file
+            self.kegman.write_config(self.kegman.conf)
+
           self.cstm_btns.btns[id].btn_label2 = self.gasLabels[self.gasMode]
           self.cstm_btns.hasChanges = True
       else:
@@ -435,8 +442,14 @@ def update(self, cp, cp_cam):
     else:
       if self.cstm_btns.get_button_status("slow") == 0:
         self.acc_slow_on = False
+        self.sloMode = 0
+        self.kegman.conf['lastSloMode'] = str(self.sloMode)   # write last SloMode setting to file
+        self.kegman.write_config(self.kegman.conf)
       else:
         self.acc_slow_on = True
+        self.sloMode = 1
+        self.kegman.conf['lastSloMode'] = str(self.sloMode)   # write last SloMode setting to file
+        self.kegman.write_config(self.kegman.conf)
 
     # we could use the override bit from dbc, but it's triggered at too high torque values
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD

selfdrive/car/toyota/interface.py

@@ -387,6 +387,7 @@ def update(self, c):
     ret.accSlowToggle = self.CS.acc_slow_on
     ret.readdistancelines = self.CS.read_distance_lines
     ret.gasbuttonstatus = self.CS.cstm_btns.get_button_status("gas")
+    ret.gasbuttonstatus = self.CS.gasMode
     if self.CS.sport_on == 1:
       ret.gasbuttonstatus = 1
     if self.CS.econ_on == 1: