Merge pull request #1 from eFiniLan/master_dev

up to 2023-04-26 commits

Author: eFiniLan

.gitignore

@@ -83,3 +83,13 @@ build/
 !**/.gitkeep
 
 poetry.toml
+
+# rick - these are generated during compilation.
+selfdrive/camerad/camerad
+selfdrive/golden/
+selfdrive/legacy_modeld/_dmonitoringmodeld
+selfdrive/legacy_modeld/_modeld
+selfdrive/legacy_modeld/models/supercombo.thneed
+selfdrive/legacy_modeld/models/supercombo_badweights.thneed
+selfdrive/legacy_modeld/thneed/compile
+selfdrive/loggerd/bootlog

README.md

@@ -11,6 +11,13 @@ legacypilot is a side project that enables comma.ai EON and Comma Two devices to
 
 legacypilot combines the Nuclear Grade Model with the latest openpilot (almost) codebase to create a hybrid solution. With the legacypilot project, we have stripped out nearly 99% of the dragonpilot code.
 
+In summary, legacypilot is based on Openpilot 0.8.16 with the latest vehicle model support from the Openpilot master branch.
+
+Please note that this build is and will always be in the experimental phase and may not be suitable for use as a daily driver.
+
+I recommend using the openpilot [commatwo_master](https://github.com/commaai/openpilot/tree/commatwo_master) branch for your daily driving needs.
+
+Please see [README_openpilot.md](README_openpilot.md) for the original readme.
 
 ## Why use legacypilot
 
@@ -22,8 +29,9 @@ I have decided to make this side project open source for users who wish to:
 * Experience pure openpilot (without the modifications of dragonpilot)
 * Make their own EON/C2 fork without spending hundreds of hours reverting and testing code.
 
-By making this project open source, I hope to alleviate some of the frustration and complaints about not being able to access the source code. However, I still encourage users to consider purchasing a [comma 3](https://shop.comma.ai) for the best and up-to-date openpilot experience.
+By making this project open source, I hope to alleviate some of the frustration and complaints about not being able to access the dragonpilot source code.
 
+I still encourage users to consider purchasing a [comma 3](https://shop.comma.ai) for the best and up-to-date openpilot experience.
 
 ## Limitations
 
@@ -33,9 +41,3 @@ By making this project open source, I hope to alleviate some of the frustration
 * Navigation On Openpilot (NOO) is not supported, as it requires a newer driving model that is not currently available in legacypilot.
 * Services are not optimized for resource usage, and using all services may result in overheating issues.
 * Language files can only be generated in a PC due to missing Qt5 tools.
-
-In summary, legacypilot is based on Openpilot 0.8.16 with the latest vehicle model support from the Openpilot master branch.
-
-However, please note that this build is still in the experimental phase and may not be suitable for use as a daily driver. We recommend using the openpilot mastertwo branch for your daily driving needs.
-
-Please see README_openpilot.md for the original readme.

SConstruct

@@ -7,6 +7,8 @@ import numpy as np
 
 import SCons.Errors
 
+SCons.Warnings.warningAsException(True)
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 
@@ -359,7 +361,9 @@ else:
     qt_libs = ['gui', 'adreno_utils']
   elif arch != "Darwin":
     qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
 
+# compatibility for older SCons versions
 try:
   qt_env.Tool('qt3')
 except SCons.Errors.UserError:
@@ -491,7 +495,7 @@ SConscript(['system/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 # SConscript(['selfdrive/navd/SConscript'])
 
-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   SConscript(['tools/cabana/SConscript'])
 

common/legacy_modeldata.h

@@ -5,8 +5,6 @@
 #include "system/hardware/hw.h"
 
 const int TRAJECTORY_SIZE = 33;
-const int LAT_MPC_N = 16;
-const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
 

docs/docker/Dockerfile

@@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
+COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika

opendbc

@@ -396,9 +396,9 @@ selfdrive/modeld/runners/run.h
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py
 
+selfdrive/navd/.gitignore
 selfdrive/navd/__init__.py
-selfdrive/navd/navd.py
-selfdrive/navd/helpers.py
+selfdrive/navd/**
 
 selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc

panda

@@ -2,7 +2,7 @@
 from common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_angle_limits
-from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
+from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
   create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
 from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
 
@@ -76,7 +76,7 @@ def update(self, CC, CS, now_nanos):
         gas = -5.0
         decel = True
 
-      can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
+      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)

release/files_common

@@ -97,7 +97,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
   return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
 
 
-def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
+def create_acc_msg(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -117,6 +117,40 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec
   return packer.make_can_msg("ACCDATA", CANBUS.main, values)
 
 
+def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
+  """
+  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
+
+  Stock functionality is maintained by passing through unmodified signals.
+
+  Frequency is 20Hz.
+  """
+
+  # Tja_D_Stat
+  if enabled:
+    if hud_control.leftLaneDepart:
+      status = 3  # ActiveInterventionLeft
+    elif hud_control.rightLaneDepart:
+      status = 4  # ActiveInterventionRight
+    else:
+      status = 2  # Active
+  elif main_on:
+    if hud_control.leftLaneDepart:
+      status = 5  # ActiveWarningLeft
+    elif hud_control.rightLaneDepart:
+      status = 6  # ActiveWarningRight
+    else:
+      status = 1  # Standby
+  else:
+    status = 0    # Off
+
+  values = {
+    **stock_values,
+    "Tja_D_Stat": status,
+  }
+  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
+
+
 def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC IPMA/LKAS status.
@@ -168,40 +202,6 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
   return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
 
 
-def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
-  """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 20Hz.
-  """
-
-  # Tja_D_Stat
-  if enabled:
-    if hud_control.leftLaneDepart:
-      status = 3  # ActiveInterventionLeft
-    elif hud_control.rightLaneDepart:
-      status = 4  # ActiveInterventionRight
-    else:
-      status = 2  # Active
-  elif main_on:
-    if hud_control.leftLaneDepart:
-      status = 5  # ActiveWarningLeft
-    elif hud_control.rightLaneDepart:
-      status = 6  # ActiveWarningRight
-    else:
-      status = 1  # Standby
-  else:
-    status = 0    # Off
-
-  values = {
-    **stock_values,
-    "Tja_D_Stat": status,
-  }
-  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
-
-
 def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
                       bus: int = CANBUS.camera):
   """