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FrogPilot setup - Python imports

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This commit is contained in:
FrogAi 2024-05-09 20:03:47 -07:00
parent 851f082705
commit 70b4cd4f48
16 changed files with 26 additions and 7 deletions
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1
selfdrive/car/chrysler/interface.py
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@ -6,6 +6,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CAR
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):

1
selfdrive/car/ford/interface.py
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@ -9,6 +9,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
TransmissionType = car.CarParams.TransmissionType
GearShifter = car.CarState.GearShifter
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):

1
selfdrive/car/gm/interface.py
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@ -19,6 +19,7 @@ TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
PEDAL_MSG = 0x201
CAM_MSG = 0x320 # AEBCmd

1
selfdrive/car/honda/interface.py
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@ -17,6 +17,7 @@ TransmissionType = car.CarParams.TransmissionType
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):

1
selfdrive/car/hyundai/interface.py
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@ -15,6 +15,7 @@ EventName = car.CarEvent.EventName
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):

2
selfdrive/car/interfaces.py
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@ -15,7 +15,7 @@ from openpilot.common.numpy_fast import clip
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car.values import PLATFORMS
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS, V_CRUISE_MAX, get_friction
from openpilot.selfdrive.controls.lib.events import Events
from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel

1
selfdrive/car/mazda/interface.py
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@ -7,6 +7,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):

1
selfdrive/car/nissan/interface.py
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@ -5,6 +5,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR
ButtonType = car.CarState.ButtonEvent.Type
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):

3
selfdrive/car/subaru/interface.py
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@ -1,10 +1,11 @@
from cereal import car, custom
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):

1
selfdrive/car/toyota/interface.py
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@ -10,6 +10,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
SteerControlType = car.CarParams.SteerControlType
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):

5
selfdrive/controls/controlsd.py
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@ -32,6 +32,9 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
from openpilot.system.hardware import HARDWARE
from openpilot.system.version import get_short_branch
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import MovingAverageCalculator
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CRUISING_SPEED, PROBABILITY
SOFT_DISABLE_TIME = 3 # seconds
LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
LANE_DEPARTURE_THRESHOLD = 0.1
@ -50,7 +53,9 @@ LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
EventName = car.CarEvent.EventName
ButtonType = car.CarState.ButtonEvent.Type
GearShifter = car.CarState.GearShifter
SafetyModel = car.CarParams.SafetyModel
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}

2
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -17,6 +17,8 @@ else:
from casadi import SX, vertcat
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT
MODEL_NAME = 'long'
LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")

3
selfdrive/frogpilot/controls/frogpilot_planner.py
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@ -14,7 +14,8 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHA
get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, Lead, get_max_accel
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CITY_SPEED_LIMIT, CRUISING_SPEED, calculate_lane_width, calculate_road_curvature
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import calculate_lane_width, calculate_road_curvature
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED
GearShifter = car.CarState.GearShifter

6
selfdrive/frogpilot/controls/lib/frogpilot_functions.py
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@ -13,10 +13,7 @@ from openpilot.common.params_pyx import UnknownKeyName
from openpilot.system.hardware import HARDWARE
from openpilot.system.version import get_short_branch, get_commit_date
CITY_SPEED_LIMIT = 25 # 55mph is typically the minimum speed for highways
CRUISING_SPEED = 5 # Roughly the speed cars go when not touching the gas while in drive
PROBABILITY = 0.6 # 60% chance of condition being true
THRESHOLD = 5 # Time threshold (0.25s)
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import PROBABILITY, THRESHOLD
def calculate_lane_width(lane, current_lane, road_edge):
lane_x, lane_y = np.array(lane.x), np.array(lane.y)
@ -37,6 +34,7 @@ def calculate_road_curvature(modelData, v_ego):
max_pred_lat_acc = np.amax(orientation_rate * velocity)
return max_pred_lat_acc / (v_ego**2)
class MovingAverageCalculator:
def __init__(self):
self.data = []

3
selfdrive/manager/manager.py
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@ -4,6 +4,8 @@ import os
import signal
import subprocess
import sys
import threading
import time
import traceback
from cereal import log
@ -11,6 +13,7 @@ import cereal.messaging as messaging
import openpilot.selfdrive.sentry as sentry
from openpilot.common.params import Params, ParamKeyType
from openpilot.common.text_window import TextWindow
from openpilot.common.time import system_time_valid
from openpilot.system.hardware import HARDWARE, PC
from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
from openpilot.selfdrive.manager.process import ensure_running

1
selfdrive/ui/soundd.py
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@ -1,5 +1,6 @@
import math
import numpy as np
import os
import time
import wave