code stringlengths 1 1.05M | repo_name stringlengths 6 83 | path stringlengths 3 242 | language stringclasses 222
values | license stringclasses 20
values | size int64 1 1.05M |
|---|---|---|---|---|---|
from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags
def create_steering_control(packer, CP, frame, apply_steer, lkas):
tmp = apply_steer + 2048
lo = tmp & 0xFF
hi = tmp >> 8
# copy values from camera
b1 = int(lkas["BIT_1"])
er1 = int(lkas["ERR_BIT_1"])
lnv = 0
ldw = 0
er2 = int(l... | 2301_81045437/openpilot | selfdrive/car/mazda/mazdacan.py | Python | mit | 2,844 |
#!/usr/bin/env python3
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
pass
| 2301_81045437/openpilot | selfdrive/car/mazda/radar_interface.py | Python | mit | 139 |
from dataclasses import dataclass, field
from enum import IntFlag
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarPar... | 2301_81045437/openpilot | selfdrive/car/mazda/values.py | Python | mit | 2,955 |
from openpilot.selfdrive.car.interfaces import CarControllerBase
class CarController(CarControllerBase):
def update(self, CC, CS, now_nanos):
return CC.actuators.as_builder(), []
| 2301_81045437/openpilot | selfdrive/car/mock/carcontroller.py | Python | mit | 186 |
from openpilot.selfdrive.car.interfaces import CarStateBase
class CarState(CarStateBase):
pass
| 2301_81045437/openpilot | selfdrive/car/mock/carstate.py | Python | mit | 98 |
#!/usr/bin/env python3
from cereal import car
import cereal.messaging as messaging
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
# mocked car interface for dashcam mode
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, Car... | 2301_81045437/openpilot | selfdrive/car/mock/interface.py | Python | mit | 989 |
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
pass
| 2301_81045437/openpilot | selfdrive/car/mock/radar_interface.py | Python | mit | 116 |
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
class CAR(Platforms):
MOCK = PlatformConfig(
[],
CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13),
{}
)
| 2301_81045437/openpilot | selfdrive/car/mock/values.py | Python | mit | 195 |
from cereal import car
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_std_steer_angle_limits
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.nissan import nissancan
from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParam... | 2301_81045437/openpilot | selfdrive/car/nissan/carcontroller.py | Python | mit | 3,428 |
import copy
from collections import deque
from cereal import car
from opendbc.can.can_define import CANDefine
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.nissan.values import ... | 2301_81045437/openpilot | selfdrive/car/nissan/carstate.py | Python | mit | 7,611 |
# ruff: noqa: E501
from cereal import car
from openpilot.selfdrive.car.nissan.values import CAR
Ecu = car.CarParams.Ecu
FINGERPRINTS = {
CAR.NISSAN_XTRAIL: [{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674:... | 2301_81045437/openpilot | selfdrive/car/nissan/fingerprints.py | Python | mit | 8,009 |
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBa... | 2301_81045437/openpilot | selfdrive/car/nissan/interface.py | Python | mit | 1,397 |
import crcmod
from openpilot.selfdrive.car.nissan.values import CAR
# TODO: add this checksum to the CANPacker
nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
values = {
"COUNTER": frame % 0x10,
... | 2301_81045437/openpilot | selfdrive/car/nissan/nissancan.py | Python | mit | 4,206 |
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
pass
| 2301_81045437/openpilot | selfdrive/car/nissan/radar_interface.py | Python | mit | 116 |
from dataclasses import dataclass, field
from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarDocs, CarHarness, CarParts
from openpilot.selfdrive.car.fw_quer... | 2301_81045437/openpilot | selfdrive/car/nissan/values.py | Python | mit | 3,674 |
from openpilot.common.numpy_fast import clip, interp
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.subaru import subarucan
from openpilot.... | 2301_81045437/openpilot | selfdrive/car/subaru/carcontroller.py | Python | mit | 6,946 |
import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
from ... | 2301_81045437/openpilot | selfdrive/car/subaru/carstate.py | Python | mit | 8,894 |
from cereal import car
from openpilot.selfdrive.car.subaru.values import CAR
Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.SUBARU_ASCENT: {
(Ecu.abs, 0x7b0, None): [
b'\xa5 \x19\x02\x00',
b'\xa5 !\x02\x00',
],
(Ecu.eps, 0x746, None): [
b'\x05\xc0\xd0\x00',
b'\x85\xc0\xd0\x00',
... | 2301_81045437/openpilot | selfdrive/car/subaru/fingerprints.py | Python | mit | 13,719 |
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import 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
class CarI... | 2301_81045437/openpilot | selfdrive/car/subaru/interface.py | Python | mit | 5,126 |
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
pass
| 2301_81045437/openpilot | selfdrive/car/subaru/radar_interface.py | Python | mit | 116 |
from cereal import car
from openpilot.selfdrive.car.subaru.values import CanBus
VisualAlert = car.CarControl.HUDControl.VisualAlert
def create_steering_control(packer, apply_steer, steer_req):
values = {
"LKAS_Output": apply_steer,
"LKAS_Request": steer_req,
"SET_1": 1
}
return packer.make_can_msg(... | 2301_81045437/openpilot | selfdrive/car/subaru/subarucan.py | Python | mit | 8,753 |
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, C... | 2301_81045437/openpilot | selfdrive/car/subaru/values.py | Python | mit | 9,677 |
from openpilot.common.numpy_fast import clip
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_std_steer_angle_limits
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
from openpilot.selfdrive.car.tesla.values im... | 2301_81045437/openpilot | selfdrive/car/tesla/carcontroller.py | Python | mit | 2,913 |
import copy
from collections import deque
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
fro... | 2301_81045437/openpilot | selfdrive/car/tesla/carstate.py | Python | mit | 5,422 |
from cereal import car
from openpilot.selfdrive.car.tesla.values import CAR
Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.TESLA_AP2_MODELS: {
(Ecu.adas, 0x649, None): [
b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
],
(Ecu.electricBrakeBooster, 0x64d, None): [
... | 2301_81045437/openpilot | selfdrive/car/tesla/fingerprints.py | Python | mit | 820 |
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_para... | 2301_81045437/openpilot | selfdrive/car/tesla/interface.py | Python | mit | 2,081 |
#!/usr/bin/env python3
from cereal import car
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
se... | 2301_81045437/openpilot | selfdrive/car/tesla/radar_interface.py | Python | mit | 2,692 |
import crcmod
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams
class TeslaCAN:
def __init__(self, packer, pt_packer):
self.packer = packer
self.pt_packer = pt_packer
self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, re... | 2301_81045437/openpilot | selfdrive/car/tesla/teslacan.py | Python | mit | 2,988 |
from collections import namedtuple
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarDocs
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car... | 2301_81045437/openpilot | selfdrive/car/tesla/values.py | Python | mit | 3,439 |
#!/bin/bash
SCRIPT_DIR=$(dirname "$0")
BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
cd $BASEDIR
MAX_EXAMPLES=300
INTERNAL_SEG_CNT=300
FILEREADER_CACHE=1
INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py | 2301_81045437/openpilot | selfdrive/car/tests/big_cars_test.sh | Shell | mit | 284 |
#!/usr/bin/env python3
from typing import NamedTuple
from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
from openpilot.selfdrive.car.gm.values import CAR as GM
from openpilot.selfdrive.car.ford.values import CAR as FORD
from openpilot.selfdrive.car.honda.values import CAR as HONDA
from openpilot.selfd... | 2301_81045437/openpilot | selfdrive/car/tests/routes.py | Python | mit | 22,788 |
from cereal import car
from openpilot.common.numpy_fast import clip
from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.toyota import toyotacan... | 2301_81045437/openpilot | selfdrive/car/toyota/carcontroller.py | Python | mit | 8,627 |
import copy
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import mean
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_CTRL
from opendbc.can.can_define import CANDefine
from opendbc.can.parser impor... | 2301_81045437/openpilot | selfdrive/car/toyota/carstate.py | Python | mit | 11,047 |
from cereal import car
from openpilot.selfdrive.car.toyota.values import CAR
Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.TOYOTA_AVALON: {
(Ecu.abs, 0x7b0, None): [
b'F152607060\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881510701300\x00\x00\x00\x00',
b'881510705100\x00\x0... | 2301_81045437/openpilot | selfdrive/car/toyota/fingerprints.py | Python | mit | 72,276 |
from cereal import car
from panda import Panda
from panda.python import uds
from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ... | 2301_81045437/openpilot | selfdrive/car/toyota/interface.py | Python | mit | 9,593 |
#!/usr/bin/env python3
from opendbc.can.parser import CANParser
from cereal import car
from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
def _create_radar_can_parser(car_fingerprint):
if car_fingerprint in TSS2_CAR:
RADAR_A_MSGS = l... | 2301_81045437/openpilot | selfdrive/car/toyota/radar_interface.py | Python | mit | 3,244 |
#!/usr/bin/env python3
from collections import defaultdict
from cereal import car
from openpilot.selfdrive.car.toyota.values import PLATFORM_CODE_ECUS, get_platform_codes
from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items... | 2301_81045437/openpilot | selfdrive/car/toyota/tests/print_platform_codes.py | Python | mit | 1,424 |
from cereal import car
SteerControlType = car.CarParams.SteerControlType
def create_steer_command(packer, steer, steer_req):
"""Creates a CAN message for the Toyota Steer Command."""
values = {
"STEER_REQUEST": steer_req,
"STEER_TORQUE_CMD": steer,
"SET_ME_1": 1,
}
return packer.make_can_msg("ST... | 2301_81045437/openpilot | selfdrive/car/toyota/toyotacan.py | Python | mit | 3,385 |
import re
from collections import defaultdict
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
from openpilot.selfdrive.car import AngleRateLi... | 2301_81045437/openpilot | selfdrive/car/toyota/values.py | Python | mit | 27,576 |
from typing import get_args
from openpilot.selfdrive.car.body.values import CAR as BODY
from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
from openpilot.selfdrive.car.ford.values import CAR as FORD
from openpilot.selfdrive.car.gm.values import CAR as GM
from openpilot.selfdrive.car.honda.values import... | 2301_81045437/openpilot | selfdrive/car/values.py | Python | mit | 1,099 |
#!/usr/bin/env python3
import re
import cereal.messaging as messaging
from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries
from openpilot... | 2301_81045437/openpilot | selfdrive/car/vin.py | Python | mit | 3,407 |
from cereal import car
from opendbc.can.packer import CANPacker
from openpilot.common.numpy_fast import clip
from openpilot.common.conversions import Conversions as CV
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car.interfac... | 2301_81045437/openpilot | selfdrive/car/volkswagen/carcontroller.py | Python | mit | 6,631 |
import numpy as np
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
... | 2301_81045437/openpilot | selfdrive/car/volkswagen/carstate.py | Python | mit | 20,175 |
from cereal import car
from openpilot.selfdrive.car.volkswagen.values import CAR
Ecu = car.CarParams.Ecu
# TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting
FW_VERSIONS = {
CAR.VOLKSWAGEN_ARTEON_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x873G0906259AH\xf1\x890001... | 2301_81045437/openpilot | selfdrive/car/volkswagen/fingerprints.py | Python | mit | 55,281 |
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
Bu... | 2301_81045437/openpilot | selfdrive/car/volkswagen/interface.py | Python | mit | 5,329 |
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
values = {
"HCA_01_Status_HCA": 5 if lkas_enabled else 3,
"HCA_01_LM_Offset": abs(apply_steer),
"HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0,
"HCA_01_Vib_Freq": 18,
"HCA_01_Sendestatus": 1 if lkas_enabled else 0,
"EA_ACC_... | 2301_81045437/openpilot | selfdrive/car/volkswagen/mqbcan.py | Python | mit | 5,317 |
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
values = {
"LM_Offset": abs(apply_steer),
"LM_OffSign": 1 if apply_steer < 0 else 0,
"HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
"Vib_Freq": 16,
}
return packer.make_can_msg("HCA_1", bus, values)
def create_... | 2301_81045437/openpilot | selfdrive/car/volkswagen/pqcan.py | Python | mit | 3,514 |
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
pass
| 2301_81045437/openpilot | selfdrive/car/volkswagen/radar_interface.py | Python | mit | 116 |
from collections import defaultdict, namedtuple
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from cereal import car
from panda.python import uds
from opendbc.can.can_define import CANDefine
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car impor... | 2301_81045437/openpilot | selfdrive/car/volkswagen/values.py | Python | mit | 21,334 |
#!/usr/bin/env python3
import os
import math
import time
import threading
from typing import SupportsFloat
import cereal.messaging as messaging
from cereal import car, log
from cereal.visionipc import VisionIpcClient, VisionStreamType
from openpilot.common.conversions import Conversions as CV
from openpilot.common.... | 2301_81045437/openpilot | selfdrive/controls/controlsd.py | Python | mit | 37,112 |
import copy
import os
import json
from collections import defaultdict
from dataclasses import dataclass
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.selfdrive.controls.lib.events import Alert
with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offr... | 2301_81045437/openpilot | selfdrive/controls/lib/alertmanager.py | Python | mit | 1,808 |
from cereal import log
from openpilot.common.conversions import Conversions as CV
from openpilot.common.realtime import DT_MDL
LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
LANE_CHANGE_TIME_MAX = 10.
DESIRES = {
LaneChangeDirection.non... | 2301_81045437/openpilot | selfdrive/controls/lib/desire_helper.py | Python | mit | 4,853 |
import math
from cereal import car, log
from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import clip, interp
from openpilot.common.realtime import DT_CTRL
# WARNING: this value was determined based on the model's training distribution,
# model predictions above this... | 2301_81045437/openpilot | selfdrive/controls/lib/drive_helpers.py | Python | mit | 6,960 |
#!/usr/bin/env python3
import bisect
import math
import os
from enum import IntEnum
from collections.abc import Callable
from cereal import log, car
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.common.git import get_short_branch
from openpilot.common.re... | 2301_81045437/openpilot | selfdrive/controls/lib/events.py | Python | mit | 35,912 |
from abc import abstractmethod, ABC
from openpilot.common.numpy_fast import clip
from openpilot.common.realtime import DT_CTRL
MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s
class LatControl(ABC):
def __init__(self, CP, CI):
self.sat_count_rate = 1.0 * DT_CTRL
self.sat_limit = CP.steerLimitTimer
self.sat_coun... | 2301_81045437/openpilot | selfdrive/controls/lib/latcontrol.py | Python | mit | 979 |
import math
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
class LatControlAngle(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
self.sat_check_min_speed = 5.
def update(self, active, CS, VM, ... | 2301_81045437/openpilot | selfdrive/controls/lib/latcontrol_angle.py | Python | mit | 1,095 |
import math
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.pid import PIDController
class LatControlPID(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.... | 2301_81045437/openpilot | selfdrive/controls/lib/latcontrol_pid.py | Python | mit | 1,981 |
import math
from cereal import log
from openpilot.common.numpy_fast import interp
from openpilot.selfdrive.car.interfaces import LatControlInputs
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.controls.lib.vehic... | 2301_81045437/openpilot | selfdrive/controls/lib/latcontrol_torque.py | Python | mit | 5,047 |
Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python')
gen = "c_generated_code"
casadi_model = [
f'{gen}/lat_model/lat_expl_ode_fun.c',
f'{gen}/lat_model/lat_expl_vde_forw.c',
]
casadi_cost_y = [
f'{gen}/lat_cost/lat_cost_y_fun.c',
f'{gen}/lat_cost/lat_cost_y_fun_jac_ut_xt.... | 2301_81045437/openpilot | selfdrive/controls/lib/lateral_mpc_lib/SConscript | Python | mit | 3,128 |
#!/usr/bin/env python3
import os
import time
import numpy as np
from casadi import SX, vertcat, sin, cos
# WARNING: imports outside of constants will not trigger a rebuild
from openpilot.selfdrive.modeld.constants import ModelConstants
if __name__ == '__main__': # generating code
from openpilot.third_party.acados.... | 2301_81045437/openpilot | selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | Python | mit | 6,558 |
from cereal import car
from openpilot.common.numpy_fast import clip, interp
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.modeld.constants import M... | 2301_81045437/openpilot | selfdrive/controls/lib/longcontrol.py | Python | mit | 5,627 |
Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python')
gen = "c_generated_code"
casadi_model = [
f'{gen}/long_model/long_expl_ode_fun.c',
f'{gen}/long_model/long_expl_vde_forw.c',
]
casadi_cost_y = [
f'{gen}/long_cost/long_cost_y_fun.c',
f'{gen}/long_cost/long_cost_y_fun_ja... | 2301_81045437/openpilot | selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | Python | mit | 3,344 |
#!/usr/bin/env python3
import os
import time
import numpy as np
from cereal import log
from openpilot.common.numpy_fast import clip
from openpilot.common.realtime import DT_MDL
from openpilot.common.swaglog import cloudlog
# WARNING: imports outside of constants will not trigger a rebuild
from openpilot.selfdrive.model... | 2301_81045437/openpilot | selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | Python | mit | 16,702 |
#!/usr/bin/env python3
import math
import numpy as np
from openpilot.common.numpy_fast import clip, interp
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpi... | 2301_81045437/openpilot | selfdrive/controls/lib/longitudinal_planner.py | Python | mit | 7,060 |
import numpy as np
from numbers import Number
from openpilot.common.numpy_fast import clip, interp
class PIDController:
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
self._k_p = k_p
self._k_i = k_i
self._k_d = k_d
self.k_f = k_f # feedforward gain
... | 2301_81045437/openpilot | selfdrive/controls/lib/pid.py | Python | mit | 2,042 |
#!/usr/bin/env python3
"""
Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
The state is x = [v, r]^T
with v lateral speed [m/s], and r rotational speed [rad/s]
The input u is the steering angle [rad], and roll [rad]
The system is defined by
x_dot = A*x + B*u
A depends on longitudin... | 2301_81045437/openpilot | selfdrive/controls/lib/vehicle_model.py | Python | mit | 6,365 |
#!/usr/bin/env python3
from cereal import car
from openpilot.common.params import Params
from openpilot.common.realtime import Priority, config_realtime_process
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
import cereal.messaging as ... | 2301_81045437/openpilot | selfdrive/controls/plannerd.py | Python | mit | 1,681 |
#!/usr/bin/env python3
import importlib
import math
from collections import deque
from typing import Any
import capnp
from cereal import messaging, log, car
from openpilot.common.numpy_fast import interp
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, con... | 2301_81045437/openpilot | selfdrive/controls/radard.py | Python | mit | 11,290 |
Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations')
loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl']
# build ekf models
rednose_gen_dir = 'models/generated'
rednose_gen_deps = [
"models/constants.py",
]
live_ekf = env.RednoseCompileFilter(
target='live... | 2301_81045437/openpilot | selfdrive/locationd/SConscript | Python | mit | 1,183 |
#!/usr/bin/env python3
'''
This process finds calibration values. More info on what these calibration values
are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations
While the roll calibration is a real value that can be estimated, here we assume it's zero,
and the image input into ... | 2301_81045437/openpilot | selfdrive/locationd/calibrationd.py | Python | mit | 11,815 |
import numpy as np
from typing import Any
from cereal import log
class NPQueue:
def __init__(self, maxlen: int, rowsize: int) -> None:
self.maxlen = maxlen
self.arr = np.empty((0, rowsize))
def __len__(self) -> int:
return len(self.arr)
def append(self, pt: list[float]) -> None:
if len(self.a... | 2301_81045437/openpilot | selfdrive/locationd/helpers.py | Python | mit | 2,180 |
#include "selfdrive/locationd/locationd.h"
#include <sys/time.h>
#include <sys/resource.h>
#include <algorithm>
#include <cmath>
#include <vector>
using namespace EKFS;
using namespace Eigen;
ExitHandler do_exit;
const double ACCEL_SANITY_CHECK = 100.0; // m/s^2
const double ROTATION_SANITY_CHECK = 10.0; // rad/s... | 2301_81045437/openpilot | selfdrive/locationd/locationd.cc | C++ | mit | 35,934 |
#pragma once
#include <eigen3/Eigen/Dense>
#include <deque>
#include <fstream>
#include <memory>
#include <map>
#include <string>
#include "cereal/messaging/messaging.h"
#include "common/transformations/coordinates.hpp"
#include "common/transformations/orientation.hpp"
#include "common/params.h"
#include "common/swag... | 2301_81045437/openpilot | selfdrive/locationd/locationd.h | C++ | mit | 3,509 |
#!/usr/bin/env python3
import math
import sys
from typing import Any
import numpy as np
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.locationd.models.constants import ObservationKind
from openpilot.common.swaglog import cloudlog
from rednose.helpers.... | 2301_81045437/openpilot | selfdrive/locationd/models/car_kf.py | Python | mit | 5,224 |
import os
GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
class ObservationKind:
UNKNOWN = 0
NO_OBSERVATION = 1
GPS_NED = 2
ODOMETRIC_SPEED = 3
PHONE_GYRO = 4
GPS_VEL = 5
PSEUDORANGE_GPS = 6
PSEUDORANGE_RATE_GPS = 7
SPEED = 8
NO_ROT = 9
PHONE_ACCEL = 10
OR... | 2301_81045437/openpilot | selfdrive/locationd/models/constants.py | Python | mit | 2,050 |
#include "selfdrive/locationd/models/live_kf.h"
using namespace EKFS;
using namespace Eigen;
Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec) {
return Eigen::Map<Eigen::VectorXd>((double*)vec.data(), vec.rows(), vec.cols());
}
Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat) {
return Eige... | 2301_81045437/openpilot | selfdrive/locationd/models/live_kf.cc | C++ | mit | 3,761 |
#pragma once
#include <string>
#include <cmath>
#include <memory>
#include <unordered_map>
#include <vector>
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>
#include "generated/live_kf_constants.h"
#include "rednose/helpers/ekf_sym.h"
#define EARTH_GM 3.986005e14 // m^3/s^2 (gravitational constant * mas... | 2301_81045437/openpilot | selfdrive/locationd/models/live_kf.h | C++ | mit | 2,203 |
#!/usr/bin/env python3
import sys
import os
import numpy as np
from openpilot.selfdrive.locationd.models.constants import ObservationKind
import sympy as sp
import inspect
from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
from rednose.helpers.ekf_sym import gen_code
EARTH_GM = 3.986... | 2301_81045437/openpilot | selfdrive/locationd/models/live_kf.py | Python | mit | 11,797 |
#!/usr/bin/env python3
import os
import math
import json
import numpy as np
import cereal.messaging as messaging
from cereal import car
from cereal import log
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, DT_MDL
from openpilot.common.numpy_fast import clip
fr... | 2301_81045437/openpilot | selfdrive/locationd/paramsd.py | Python | mit | 10,980 |
#!/usr/bin/env python3
import numpy as np
from collections import deque, defaultdict
import cereal.messaging as messaging
from cereal import car, log
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, DT_MDL
from openpilot.common.filter_simple import FirstOrderFil... | 2301_81045437/openpilot | selfdrive/locationd/torqued.py | Python | mit | 11,103 |
import glob
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
lenv = env.Clone()
lenvCython = envCython.Clone()
libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'zmq', 'kj', 'pthread']
frameworks = []
common_src = [
"models/commonmodel... | 2301_81045437/openpilot | selfdrive/modeld/SConscript | Python | mit | 3,165 |
import numpy as np
def index_function(idx, max_val=192, max_idx=32):
return (max_val) * ((idx/max_idx)**2)
class ModelConstants:
# time and distance indices
IDX_N = 33
T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
... | 2301_81045437/openpilot | selfdrive/modeld/constants.py | Python | mit | 2,066 |
#!/usr/bin/env python3
import os
import gc
import math
import time
import ctypes
import numpy as np
from pathlib import Path
from cereal import messaging
from cereal.messaging import PubMaster, SubMaster
from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.common.swaglog import clou... | 2301_81045437/openpilot | selfdrive/modeld/dmonitoringmodeld.py | Python | mit | 5,900 |
import os
import capnp
import numpy as np
from cereal import log
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
ConfidenceClass = log.ModelDataV2.ConfidenceClass
class PublishState:
def __init__(self):
self.disengage_buffer = np.zeros(Mode... | 2301_81045437/openpilot | selfdrive/modeld/fill_model_msg.py | Python | mit | 9,456 |
#!/usr/bin/env python3
import sys
import pathlib
import onnx
import codecs
import pickle
def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
name = value_info.name
return name, shape
if __name_... | 2301_81045437/openpilot | selfdrive/modeld/get_model_metadata.py | Python | mit | 1,003 |
#!/usr/bin/env bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd "$DIR/../../"
if [ -f "$DIR/libthneed.so" ]; then
export LD_PRELOAD="$DIR/libthneed.so"
fi
exec "$DIR/modeld.py" "$@"
| 2301_81045437/openpilot | selfdrive/modeld/modeld | Shell | mit | 209 |
#!/usr/bin/env python3
import os
import time
import pickle
import numpy as np
import cereal.messaging as messaging
from cereal import car, log
from pathlib import Path
from setproctitle import setproctitle
from cereal.messaging import PubMaster, SubMaster
from cereal.visionipc import VisionIpcClient, VisionStreamType, ... | 2301_81045437/openpilot | selfdrive/modeld/modeld.py | Python | mit | 12,841 |
#include "selfdrive/modeld/models/commonmodel.h"
#include <algorithm>
#include <cassert>
#include <cmath>
#include <cstring>
#include "common/clutil.h"
#include "common/mat.h"
#include "common/timing.h"
ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
input_frames = std::make_unique<float[]>(bu... | 2301_81045437/openpilot | selfdrive/modeld/models/commonmodel.cc | C++ | mit | 2,743 |
#pragma once
#include <cfloat>
#include <cstdlib>
#include <memory>
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#include "common/mat.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/modeld/transforms/loadyuv.h"
#include "selfdrive/m... | 2301_81045437/openpilot | selfdrive/modeld/models/commonmodel.h | C++ | mit | 1,247 |
# distutils: language = c++
from cereal.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
cdef extern from "common/mat.h":
cdef struct mat3:
float v[9]
cdef extern from "common/clutil.h":
cdef unsigned long CL_DEVICE_TYPE_DEFAULT
cl_device_id cl_get_device_id(unsigned long)
cl_context cl_creat... | 2301_81045437/openpilot | selfdrive/modeld/models/commonmodel.pxd | Cython | mit | 571 |
# distutils: language = c++
from cereal.visionipc.visionipc cimport cl_mem
from cereal.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
cdef class CLContext(BaseCLContext):
pass
cdef class CLMem:
cdef cl_mem * mem
@staticmethod
cdef create(void*)
| 2301_81045437/openpilot | selfdrive/modeld/models/commonmodel_pyx.pxd | Cython | mit | 269 |
# distutils: language = c++
# cython: c_string_encoding=ascii
import numpy as np
cimport numpy as cnp
from libc.string cimport memcpy
from cereal.visionipc.visionipc cimport cl_mem
from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_ge... | 2301_81045437/openpilot | selfdrive/modeld/models/commonmodel_pyx.pyx | Cython | mit | 1,540 |
import numpy as np
from openpilot.selfdrive.modeld.constants import ModelConstants
def sigmoid(x):
return 1. / (1. + np.exp(-x))
def softmax(x, axis=-1):
x -= np.max(x, axis=axis, keepdims=True)
if x.dtype == np.float32 or x.dtype == np.float64:
np.exp(x, out=x)
else:
x = np.exp(x)
x /= np.sum(x, ax... | 2301_81045437/openpilot | selfdrive/modeld/parse_model_outputs.py | Python | mit | 4,739 |
import os
from openpilot.system.hardware import TICI
from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
assert Runtime
USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
class ModelRunner(RunModel):
THNEED = 'THNEED'
SNPE = 'S... | 2301_81045437/openpilot | selfdrive/modeld/runners/__init__.py | Python | mit | 1,072 |
import onnx
import itertools
import os
import sys
import numpy as np
from typing import Any
from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
def attributeproto_fp16_to_fp32(attr):
flo... | 2301_81045437/openpilot | selfdrive/modeld/runners/onnxmodel.py | Python | mit | 3,706 |
#pragma once
#include "selfdrive/modeld/runners/runmodel.h"
#include "selfdrive/modeld/runners/snpemodel.h"
| 2301_81045437/openpilot | selfdrive/modeld/runners/run.h | C | mit | 109 |
#pragma once
#include <string>
#include <vector>
#include <memory>
#include <cassert>
#include "common/clutil.h"
#include "common/swaglog.h"
#define USE_CPU_RUNTIME 0
#define USE_GPU_RUNTIME 1
#define USE_DSP_RUNTIME 2
struct ModelInput {
const std::string name;
float *buffer;
int size;
ModelInput(const st... | 2301_81045437/openpilot | selfdrive/modeld/runners/runmodel.h | C++ | mit | 1,254 |
# distutils: language = c++
from libcpp.string cimport string
cdef extern from "selfdrive/modeld/runners/runmodel.h":
cdef int USE_CPU_RUNTIME
cdef int USE_GPU_RUNTIME
cdef int USE_DSP_RUNTIME
cdef cppclass RunModel:
void addInput(string, float*, int)
void setInputBuffer(string, float*, int)
void... | 2301_81045437/openpilot | selfdrive/modeld/runners/runmodel.pxd | Cython | mit | 362 |
# distutils: language = c++
from .runmodel cimport RunModel as cppRunModel
cdef class RunModel:
cdef cppRunModel * model
| 2301_81045437/openpilot | selfdrive/modeld/runners/runmodel_pyx.pxd | Cython | mit | 125 |
# distutils: language = c++
# cython: c_string_encoding=ascii
from libcpp.string cimport string
from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
class Runtime:
CPU = USE_CPU_RUNTIME
GPU = USE_GPU_RUNTIME
DSP = USE_DSP_RUNTIME
c... | 2301_81045437/openpilot | selfdrive/modeld/runners/runmodel_pyx.pyx | Cython | mit | 987 |