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Safety debug 7.9
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@xx979xx
xx979xx authored Oct 17, 2020
2 parents c3c2c6f + 0fc95a9 commit 0f05adc
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4 changes: 2 additions & 2 deletions CONTRIBUTING.md
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Expand Up @@ -18,7 +18,7 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This

### Automated Testing

All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.

### Code Style and Linting

Expand All @@ -28,7 +28,7 @@ Code is automatically checked for style by Github Actions as part of the automat

We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.

If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty.

## Pull Requests

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10 changes: 9 additions & 1 deletion Jenkinsfile
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Expand Up @@ -70,7 +70,7 @@ pipeline {
stage('PC tests') {
agent {
dockerfile {
filename 'Dockerfile.openpilot'
filename 'Dockerfile.openpilotci'
args '--privileged --shm-size=1G --user=root'
}
}
Expand Down Expand Up @@ -132,6 +132,7 @@ pipeline {
["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
//["test updater", "python installer/updater/test_updater.py"],
])
}
Expand All @@ -140,6 +141,13 @@ pipeline {
}
}
}

post {
always {
cleanWs()
}
}

}

}
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57 changes: 33 additions & 24 deletions README.md
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Expand Up @@ -158,51 +158,47 @@ Supported Cars
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Sedan/Coupe 2019-20 | Honda Sensing | Stock | 0mph | 2mph<sup>2</sup> |
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Insight 2019-20 | Honda Sensing | Stock | 0mph | 3mph |
| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2020 | All | Stock | 0mph | 0mph |
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX 2016-17 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Rav4 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Rav4 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |

Expand Down Expand Up @@ -231,24 +227,22 @@ Community Maintained Cars and Features
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
| Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric Limited 2019 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric 2019-20 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2019 | All | Stock | 0mph | 0mph |
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Optima 2017 | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-19 | Propilot | Stock | 0mph | 0mph |
| Nissan | Rogue 2019 | Propilot | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | Propilot | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-19 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2019 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019 | EyeSight | Stock | 0mph | 0mph |
Expand Down Expand Up @@ -362,8 +356,23 @@ Safety and Testing

Testing on PC
------
For simplified development and experimentation, openpilot runs in the CARLA driving simulator, which allows you to develop openpilot without a car.

Steps:
1) Start the CARLA server on first terminal
```
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
```
2) Start openpilot on second terminal
```
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
```
3) Press 1 to engage openpilot

See the full [README](tools/sim/README.md)

You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.

Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.

Community and Contributing
------
Expand Down
8 changes: 8 additions & 0 deletions RELEASES.md
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@@ -1,3 +1,11 @@
Version 0.7.9 (2020-10-09)
========================
* Improved car battery power management
* Improved updater robustness
* Improved realtime performance
* Reduced UI and modeld lags
* Increased torque on 2020 Hyundai Sonata and Palisade

Version 0.7.8 (2020-08-19)
========================
* New driver monitoring model: improved face detection and better compatibility with sunglasses
Expand Down
71 changes: 59 additions & 12 deletions SConstruct
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Expand Up @@ -6,6 +6,8 @@ import subprocess
import sys
import platform

TICI = os.path.isfile('/TICI')

AddOption('--test',
action='store_true',
help='build test files')
Expand All @@ -18,10 +20,11 @@ AddOption('--asan',
cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
Export('cython_dependencies')

arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
if arch == "aarch64" and not os.path.isdir("/system"):

if arch == "aarch64" and TICI:
arch = "larch64"

webcam = bool(ARGUMENTS.get("use_webcam", 0))
Expand All @@ -44,7 +47,6 @@ if arch == "aarch64" or arch == "larch64":

libpath = [
"/usr/lib",
"/data/data/com.termux/files/usr/lib",
"/system/vendor/lib64",
"/system/comma/usr/lib",
"#phonelibs/nanovg",
Expand All @@ -62,11 +64,12 @@ if arch == "aarch64" or arch == "larch64":
else:
libpath += [
"#phonelibs/snpe/aarch64",
"#phonelibs/libyuv/lib"
"#phonelibs/libyuv/lib",
"/system/vendor/lib64"
]
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
rpath = ["/system/vendor/lib64"]
rpath = []

if QCOM_REPLAY:
cflags += ["-DQCOM_REPLAY"]
Expand Down Expand Up @@ -131,8 +134,11 @@ env = Environment(
"-O2",
"-Wunused",
"-Werror",
"-Wno-unknown-warning-option",
"-Wno-deprecated-register",
"-Wno-inconsistent-missing-override",
"-Wno-c99-designator",
"-Wno-reorder-init-list",
] + cflags + ccflags_asan,

CPPPATH=cpppath + [
Expand All @@ -143,7 +149,6 @@ env = Environment(
"#phonelibs/openmax/include",
"#phonelibs/json11",
"#phonelibs/curl/include",
#"#phonelibs/opencv/include", # use opencv4 instead
"#phonelibs/libgralloc/include",
"#phonelibs/android_frameworks_native/include",
"#phonelibs/android_hardware_libhardware/include",
Expand All @@ -156,6 +161,8 @@ env = Environment(
"#selfdrive/camerad/include",
"#selfdrive/loggerd/include",
"#selfdrive/modeld",
"#selfdrive/sensord",
"#selfdrive/ui",
"#cereal/messaging",
"#cereal",
"#opendbc/can",
Expand All @@ -176,6 +183,44 @@ env = Environment(
]
)

qt_env = None
if arch in ["x86_64", "Darwin", "larch64"]:
qt_env = env.Clone()

if arch == "Darwin":
qt_env['QTDIR'] = "/usr/local/opt/qt"
QT_BASE = "/usr/local/opt/qt/"
qt_dirs = [
QT_BASE + "include/",
QT_BASE + "include/QtWidgets",
QT_BASE + "include/QtGui",
QT_BASE + "include/QtCore",
QT_BASE + "include/QtDBus",
QT_BASE + "include/QtMultimedia",
]
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
else:
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
]

qt_env.Tool('qt')
qt_env['CPPPATH'] += qt_dirs
qt_flags = [
"-D_REENTRANT",
"-DQT_NO_DEBUG",
"-DQT_WIDGETS_LIB",
"-DQT_GUI_LIB",
"-DQT_CORE_LIB"
]
qt_env['CXXFLAGS'] += qt_flags

if os.environ.get('SCONS_CACHE'):
cache_dir = '/tmp/scons_cache'

Expand Down Expand Up @@ -214,7 +259,7 @@ def abspath(x):

# still needed for apks
zmq = 'zmq'
Export('env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')
Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')

# cereal and messaging are shared with the system
SConscript(['cereal/SConscript'])
Expand Down Expand Up @@ -255,16 +300,18 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])

SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/proclogd/SConscript'])
SConscript(['selfdrive/clocksd/SConscript'])

SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])

SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/locationd/models/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])

if arch == "aarch64":
if arch != "Darwin":
SConscript(['selfdrive/logcatd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/clocksd/SConscript'])
else:


if arch == "x86_64":
SConscript(['tools/lib/index_log/SConscript'])
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