Update251203

RELEASES.md

@@ -1,3 +1,11 @@
+Carrot2-v9 (2025-12-03)
+========================
+* ST model
+* fix CasperEV FCA11
+* fix DriverMonitoring alert (for USA)
+* apply livePose
+* update sensor code
+
 Carrot2-v9 (2025-10-17)
 ========================
 * Nuggets In Dijon model

SConstruct

@@ -330,12 +330,9 @@ Export('env', 'qt_env', 'arch', 'real_arch')
 
 # Build common module
 SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
-
+Import('_common')
 common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
-
-Export('common', 'gpucommon')
+Export('common')
 
 # Build messaging (cereal + msgq + socketmaster + their dependencies)
 # Enable swaglog include in submodules
@@ -365,7 +362,6 @@ SConscript([
 ])
 if arch != "Darwin":
   SConscript([
-    'system/sensord/SConscript',
     'system/logcatd/SConscript',
   ])
 

cereal/services.py

@@ -52,7 +52,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "livePose": (True, 20., 4),
-  "liveLocationKalman": (True, 20., 5),
+  #"liveLocationKalman": (True, 20., 5),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 1 / 60., 1),

common/SConscript

@@ -4,22 +4,13 @@ common_libs = [
   'params.cc',
   'swaglog.cc',
   'util.cc',
-  'i2c.cc',
   'watchdog.cc',
-  'ratekeeper.cc'
-]
-
-if arch != "Darwin":
-  common_libs.append('gpio.cc')
-
-_common = env.Library('common', common_libs, LIBS="json11")
-
-files = [
+  'ratekeeper.cc',
   'clutil.cc',
 ]
 
-_gpucommon = env.Library('gpucommon', files)
-Export('_common', '_gpucommon')
+_common = env.Library('common', common_libs, LIBS="json11")
+Export('_common')
 
 if GetOption('extras'):
   env.Program('tests/test_common',

common/constants.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+# conversions
+class CV:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592
+
+
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2

common/filter_simple.py

@@ -20,6 +20,23 @@ def update(self, x):
       self.x = x
     return self.x
 
+
+class BounceFilter(FirstOrderFilter):
+  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
+    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
+    self.bounce = bounce
+    super().__init__(x0, rc, dt, initialized)
+
+  def update(self, x):
+    super().update(x)
+    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
+    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
+    self.velocity.update(0.0)
+    if abs(self.velocity.x) < 1e-5:
+      self.velocity.x = 0.0
+    self.x += self.velocity.x
+    return self.x
+
 class MyMovingAverage:
   def __init__(self, window_size, value=None):
     self.window_size = window_size

common/mock/__init__.py

@@ -13,7 +13,7 @@
 
 
 MOCK_GENERATOR = {
-  "livePose": generate_livePose
+  "livePose": generate_livePose,
   "liveLocationKalman": generate_liveLocationKalman
 }
 

common/params_keys.h

@@ -183,6 +183,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AutoNaviSpeedSafetyFactor", PERSISTENT},
     {"AutoNaviCountDownMode", PERSISTENT},
     {"TurnSpeedControlMode", PERSISTENT},
+    {"CarrotSmartSpeedControl", PERSISTENT},
     {"MapTurnSpeedFactor", PERSISTENT},
     {"ModelTurnSpeedFactor", PERSISTENT},
     {"StoppingAccel", PERSISTENT},
@@ -281,6 +282,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"MuteDoor", PERSISTENT},
     {"MuteSeatbelt", PERSISTENT},
     {"CarrotException", CLEAR_ON_MANAGER_START},
+    {"CarrotSpeed", PERSISTENT},
+    {"CarrotSpeedViz", PERSISTENT},
+    {"CarrotSpeedTable", PERSISTENT},
     {"CarName", PERSISTENT},
     {"EVTable", PERSISTENT},
     {"LongPitch", PERSISTENT},