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2024-05-05 05:10:06 -05:00
parent 38fb8ffde0
commit f015a8368b
11 changed files with 89 additions and 34 deletions
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19
selfdrive/frogpilot/controls/lib/frogpilot_functions.py
View File

@@ -31,15 +31,14 @@ def calculate_lane_width(lane, current_lane, road_edge):
return min(distance_to_lane, distance_to_road_edge)
# Clearpilot added default value 0
def calculate_road_curvature(modelData, v_ego):
predicted_velocities = np.array(modelData.velocity.x)
# clearpilot fix
# /data/openpilot/openpilot/selfdrive/frogpilot/controls/lib/frogpilot_functions.py:36: RuntimeWarning: divide by zero encountered in divide
# curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
# /data/openpilot/openpilot/selfdrive/frogpilot/controls/lib/frogpilot_functions.py:37: RuntimeWarning: invalid value encountered in multiply
# return np.amax(curvature_ratios * (v_ego**2))
return np.amax(curvature_ratios * (v_ego**2))
try:
predicted_velocities = np.array(modelData.velocity.x)
curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
return np.amax(curvature_ratios * (v_ego**2))
except:
return 0
class MovingAverageCalculator:
def __init__(self):
@@ -141,6 +140,10 @@ class FrogPilotFunctions:
except OSError:
pass
@classmethod
def prune_recordings():
return
@classmethod
def setup_frogpilot(cls):
remount_cmd = ['sudo', 'mount', '-o', 'remount,rw', '/persist']

34
selfdrive/frogpilot/frogpilot_process.py
View File

@@ -21,17 +21,19 @@ from openpilot.selfdrive.frogpilot.controls.lib.theme_manager import ThemeManage
WIFI = log.DeviceState.NetworkType.wifi
# clearpilot disabled
def automatic_update_check(params):
update_available = params.get_bool("UpdaterFetchAvailable")
update_ready = params.get_bool("UpdateAvailable")
update_state = params.get("UpdaterState", encoding='utf8')
return
# update_available = params.get_bool("UpdaterFetchAvailable")
# update_ready = params.get_bool("UpdateAvailable")
# update_state = params.get("UpdaterState", encoding='utf8')
if update_ready:
HARDWARE.reboot()
elif update_available:
os.system("pkill -SIGHUP -f selfdrive.updated.updated")
elif update_state == "idle":
os.system("pkill -SIGUSR1 -f selfdrive.updated.updated")
# if update_ready:
# HARDWARE.reboot()
# elif update_available:
# os.system("pkill -SIGHUP -f selfdrive.updated.updated")
# elif update_state == "idle":
# os.system("pkill -SIGUSR1 -f selfdrive.updated.updated")
def github_pinged(url="https://github.com", timeout=5):
try:
@@ -40,15 +42,17 @@ def github_pinged(url="https://github.com", timeout=5):
except (urllib.error.URLError, socket.timeout, http.client.RemoteDisconnected):
return False
# clearpilot disabled
def time_checks(automatic_updates, deviceState, params):
if github_pinged():
populate_models()
return
# if github_pinged():
# populate_models()
screen_off = deviceState.screenBrightnessPercent == 0
wifi_connection = deviceState.networkType == WIFI
# screen_off = deviceState.screenBrightnessPercent == 0
# wifi_connection = deviceState.networkType == WIFI
if automatic_updates and screen_off and wifi_connection:
automatic_update_check(params)
# if automatic_updates and screen_off and wifi_connection:
# automatic_update_check(params)
def frogpilot_thread():
config_realtime_process(5, Priority.CTRL_LOW)