From 3e7b68e293c0f15a816ac8cce7a26fd2b9b83284 Mon Sep 17 00:00:00 2001 From: arne182 Date: Sat, 13 Apr 2019 14:37:40 +0200 Subject: [PATCH 1/4] Signals are on camera can --- selfdrive/car/toyota/carstate.py | 43 ++++++++++++++++---------------- 1 file changed, 22 insertions(+), 21 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 69945a552c51aa..885018d5570671 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -95,16 +95,6 @@ def get_can_parser(CP): ("LANE_WARNING", "JOEL_ID", 1), ("ACC_SLOW", "JOEL_ID", 0), ("DISTANCE_LINES", "PCM_CRUISE_SM", 0), - ("TSGN1", "RSA1", 0), - ("SPDVAL1", "RSA1", 0), - ("SPLSGN1", "RSA1", 0), - ("TSGN2", "RSA1", 0), - ("SPDVAL2", "RSA1", 0), - ("SPLSGN2", "RSA1", 0), - ("TSGN3", "RSA2", 0), - ("SPLSGN3", "RSA2", 0), - ("TSGN4", "RSA2", 0), - ("SPLSGN4", "RSA2", 0), ] checks = [ @@ -136,7 +126,18 @@ def get_can_parser(CP): def get_cam_can_parser(CP): - signals = [] + signals = [ + ("TSGN1", "RSA1", 0), + ("SPDVAL1", "RSA1", 0), + ("SPLSGN1", "RSA1", 0), + ("TSGN2", "RSA1", 0), + ("SPDVAL2", "RSA1", 0), + ("SPLSGN2", "RSA1", 0), + ("TSGN3", "RSA2", 0), + ("SPLSGN3", "RSA2", 0), + ("TSGN4", "RSA2", 0), + ("SPLSGN4", "RSA2", 0), + ] # use steering message to check if panda is connected to frc checks = [("STEERING_LKA", 42)] @@ -489,15 +490,15 @@ def update(self, cp, cp_cam): self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0 else: self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM']) - self.tsgn1 = cp.vl["RSA1"]['TSGN1'] - self.spdval1 = cp.vl["RSA1"]['SPDVAL1'] - self.splsgn1 = cp.vl["RSA1"]['SPLSGN1'] - self.tsgn2 = cp.vl["RSA1"]['TSGN2'] - self.spdval2 = cp.vl["RSA1"]['SPDVAL2'] - self.splsgn2 = cp.vl["RSA1"]['SPLSGN2'] - self.tsgn3 = cp.vl["RSA2"]['TSGN3'] - self.splsgn3 = cp.vl["RSA2"]['SPLSGN3'] - self.tsgn4 = cp.vl["RSA2"]['TSGN4'] - self.splsgn4 = cp.vl["RSA2"]['SPLSGN4'] + self.tsgn1 = cp_cam.vl["RSA1"]['TSGN1'] + self.spdval1 = cp_cam.vl["RSA1"]['SPDVAL1'] + self.splsgn1 = cp_cam.vl["RSA1"]['SPLSGN1'] + self.tsgn2 = cp_cam.vl["RSA1"]['TSGN2'] + self.spdval2 = cp_cam.vl["RSA1"]['SPDVAL2'] + self.splsgn2 = cp_cam.vl["RSA1"]['SPLSGN2'] + self.tsgn3 = cp_cam.vl["RSA2"]['TSGN3'] + self.splsgn3 = cp_cam.vl["RSA2"]['SPLSGN3'] + self.tsgn4 = cp_cam.vl["RSA2"]['TSGN4'] + self.splsgn4 = cp_cam.vl["RSA2"]['SPLSGN4'] self.noovertake = self.tsgn1 == 65 or self.tsgn2 == 65 or self.tsgn3 == 65 or self.tsgn4 == 65 or self.tsgn1 == 66 or self.tsgn2 == 66 or self.tsgn3 == 66 or self.tsgn4 == 66 From a5a22bfc06b522994ccd1c005894455d2bc98aa2 Mon Sep 17 00:00:00 2001 From: arne182 Date: Sat, 13 Apr 2019 22:02:16 +0200 Subject: [PATCH 2/4] Print for debugging --- selfdrive/car/toyota/carstate.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 885018d5570671..c0012f0e2ab38c 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -492,6 +492,8 @@ def update(self, cp, cp_cam): self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM']) self.tsgn1 = cp_cam.vl["RSA1"]['TSGN1'] self.spdval1 = cp_cam.vl["RSA1"]['SPDVAL1'] + if self.spdval1 > 0: + print self.spdval1 self.splsgn1 = cp_cam.vl["RSA1"]['SPLSGN1'] self.tsgn2 = cp_cam.vl["RSA1"]['TSGN2'] self.spdval2 = cp_cam.vl["RSA1"]['SPDVAL2'] From eed9295feb129fadbe6272859e286432bdef61aa Mon Sep 17 00:00:00 2001 From: arne182 Date: Sun, 14 Apr 2019 19:18:09 +0200 Subject: [PATCH 3/4] Remove 10s limit --- selfdrive/car/toyota/interface.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 5fb900469d1b1d..655e1f0b50f7b5 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -299,10 +299,8 @@ def update(self, c): canMonoTimes = [] self.cp.update(int(sec_since_boot() * 1e9), False) - - # run the cam can update for 10s as we just need to know if the camera is alive - if self.frame < 1000: - self.cp_cam.update(int(sec_since_boot() * 1e9), False) + + self.cp_cam.update(int(sec_since_boot() * 1e9), False) self.CS.update(self.cp, self.cp_cam) From 3ebe9df618b80e89118e80f5871a27b2e13d07ba Mon Sep 17 00:00:00 2001 From: arne182 Date: Tue, 16 Apr 2019 09:00:23 +0200 Subject: [PATCH 4/4] Remove print debug --- selfdrive/car/toyota/carstate.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 2e059ae9f7a7f8..dff28958e486d1 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -470,14 +470,14 @@ def update(self, cp, cp_cam): #print "distane" #print self.distance if self.distance < self.approachradius + self.includeradius: - print "speed" - print self.prev_distance - self.distance + #print "speed" + #print self.prev_distance - self.distance #if speed is 5% higher than the speedlimit if self.prev_distance - self.distance > self.speedlimit*0.00263889: if self.v_cruise_pcm > self.speedlimit: self.v_cruise_pcm = self.speedlimit if self.distance < self.includeradius: - print "inside" + #print "inside" if self.v_cruise_pcm > self.speedlimit: self.v_cruise_pcm = self.speedlimit @@ -492,8 +492,8 @@ def update(self, cp, cp_cam): self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM']) self.tsgn1 = cp_cam.vl["RSA1"]['TSGN1'] self.spdval1 = cp_cam.vl["RSA1"]['SPDVAL1'] - if self.spdval1 > 0: - print self.spdval1 + #if self.spdval1 > 0: + # print self.spdval1 self.splsgn1 = cp_cam.vl["RSA1"]['SPLSGN1'] self.tsgn2 = cp_cam.vl["RSA1"]['TSGN2'] self.spdval2 = cp_cam.vl["RSA1"]['SPDVAL2']