def op_edit(): # use by running `python /data/openpilot/op_edit.py`
op_params = opParams()
params = op_params.params
print('Welcome to the opParams command line editor!')
print('Here are your parameters:\n')
values_list = [
params[i] if len(str(params[i])) < 20 else '{} ... {}'.format(
str(params[i])[:30],
str(params[i])[-15:]) for i in params
]
while True:
print('\n'.join([
'{}. {}: {} ({})'.format(idx + 1, i, values_list[idx],
str(type(params[i]))[7:-2])
for idx, i in enumerate(params)
]))
print('\nChoose a parameter to edit (by index): ')
choice = raw_input('>> ')
try:
choice = int(choice)
except:
print('Not an integer, exiting!')
return
if choice not in range(1, len(params) + 1):
print('Not in range!\n')
continue
chosen_key = list(params)[choice - 1]
old_value = params[chosen_key]
print('Chosen parameter: {}'.format(chosen_key))
print('Enter your new value:')
new_value = raw_input('>> ')
try:
new_value = ast.literal_eval(new_value)
print('New value: {} ({})\nOld value: {} ({})'.format(
new_value,
str(type(new_value))[7:-2], old_value,
str(type(old_value))[7:-2]))
print('Do you want to save this?')
choice = raw_input('[Y/n]: ').lower()
if choice == 'y':
op_params.put(chosen_key, new_value)
print('Saved! Anything else?')
choice = raw_input('[Y/n]: ').lower()
if choice == 'n':
return
else:
print('Did not save that...\n')
except:
print('Cannot parse input, exiting!')
break
from cereal import arne182
from common.params import Params
from common.numpy_fast import interp
import selfdrive.messaging as messaging
from cereal import car
from common.realtime import sec_since_boot, DT_PLAN
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.speed_smoother import speed_smoother
from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
from selfdrive.controls.lib.fcw import FCWChecker
from selfdrive.controls.lib.long_mpc import LongitudinalMpc
from selfdrive.op_params import opParams
op_params = opParams()
offset = op_params.get('speed_offset', 0) # m/s
osm = op_params.get('osm', True)
NO_CURVATURE_SPEED = 90.0
MAX_SPEED = 255.0
LON_MPC_STEP = 0.2 # first step is 0.2s
MAX_SPEED_ERROR = 2.0
AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
# lookup tables VS speed to determine min and max accels in cruise
# make sure these accelerations are smaller than mpc limits
_A_CRUISE_MIN_V = [-0.8, -0.7, -0.6, -0.5, -0.3]
_A_CRUISE_MIN_BP = [0.0, 5.0, 10.0, 20.0, 55.0]