brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-02-16 20:10:55 -06:00
parent 38b37d25b2
commit c20342dfd0
4 changed files with 23 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
selfdrive/car/hyundai/carcontroller.py
View File

@@ -10,6 +10,8 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarCon
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
from openpilot.common.params import Params from openpilot.common.params import Params
from openpilot.common.watcher import Watcher
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -208,6 +210,10 @@ class CarController:
new_actuators.steerOutputCan = apply_steer new_actuators.steerOutputCan = apply_steer
new_actuators.accel = accel new_actuators.accel = accel
Watcher.log_watch("hyundai_carcontroller_update_CC", CC)
Watcher.log_watch("hyundai_carcontroller_update_CS", CS)
Watcher.log_watch("hyundai_carcontroller_update_self", self)
self.frame += 1 self.frame += 1
return new_actuators, can_sends return new_actuators, can_sends

11
selfdrive/car/hyundai/carstate.py
View File

@@ -12,6 +12,8 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_G
from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import SpeedLimitController from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import SpeedLimitController
from openpilot.common.watcher import Watcher
PREV_BUTTON_SAMPLES = 8 PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames CLUSTER_SAMPLE_RATE = 20 # frames
STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
@@ -54,6 +56,9 @@ class CarState(CarStateBase):
self.params = CarControllerParams(CP) self.params = CarControllerParams(CP)
def update(self, cp, cp_cam): def update(self, cp, cp_cam):
Watcher.log_watch("hyundai_carstate_update_cp", cp)
Watcher.log_watch("hyundai_carstate_update_cp_cam", cp_cam)
if self.CP.carFingerprint in CANFD_CAR: if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam) return self.update_canfd(cp, cp_cam)
@@ -214,9 +219,13 @@ class CarState(CarStateBase):
# put_bool_nonblocking("ExperimentalMode", not experimental_mode) # put_bool_nonblocking("ExperimentalMode", not experimental_mode)
# self.lkas_previously_pressed = lkas_pressed # self.lkas_previously_pressed = lkas_pressed
Watcher.log_watch("hyundai_carstate_update_self", self)
return ret return ret
def update_canfd(self, cp, cp_cam): def update_canfd(self, cp, cp_cam):
Watcher.log_watch("hyundai_carstate_update_canfd_cp", cp)
Watcher.log_watch("hyundai_carstate_update_canfd_cp_cam", cp_cam)
ret = car.CarState.new_message() ret = car.CarState.new_message()
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
@@ -354,6 +363,8 @@ class CarState(CarStateBase):
# put_bool_nonblocking("ExperimentalMode", not experimental_mode) # put_bool_nonblocking("ExperimentalMode", not experimental_mode)
# self.lkas_previously_pressed = lkas_pressed # self.lkas_previously_pressed = lkas_pressed
Watcher.log_watch("hyundai_carstate_update_canfd_self", self)
return ret return ret
# BBOT does not work # BBOT does not work

7
shell/watcher.js
View File

@@ -2,6 +2,9 @@ const net = require('net');
const fs = require('fs'); const fs = require('fs');
const socketPath = '/tmp/oscar_watcher.sock'; const socketPath = '/tmp/oscar_watcher.sock';
// from openpilot.common.watcher import Watcher
// Watcher.log_watch("LastGPSPosition", location)
//// UNIXSOCKET SERVER //// //// UNIXSOCKET SERVER ////
let progvars = {}; let progvars = {};
@@ -237,8 +240,8 @@ function checkDiskSpace() {
}); });
} }
// Check disk space every 1 minute // Check disk space every 10 seconds
setInterval(checkDiskSpace, 60000); setInterval(checkDiskSpace, 10000);
// Perform an initial check // Perform an initial check
checkDiskSpace(); checkDiskSpace();

3
system/timezoned.py
View File

@@ -47,14 +47,13 @@ def main() -> NoReturn:
set_timezone(valid_timezones, timezone) set_timezone(valid_timezones, timezone)
while True: while True:
Watcher.log_watch("location", "starting")
time.sleep(60) time.sleep(60)
location = params.get("LastGPSPosition", encoding='utf8') location = params.get("LastGPSPosition", encoding='utf8')
# test # test
Watcher.log_watch("location", location) Watcher.log_watch("LastGPSPosition", location)
# Find timezone by reverse geocoding the last known gps location # Find timezone by reverse geocoding the last known gps location
if location is not None: if location is not None: