Merge pull request commaai#39 from neokii/hkg_085_dev

5/30/21 update

Jenkinsfile

@@ -78,7 +78,7 @@ pipeline {
       when {
         not {
           anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
           }
         }
       }
@@ -138,16 +138,16 @@ pipeline {
                 stage('Replay Tests') {
                   steps {
                     phone_steps("eon2", [
-                      ["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
-                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
                     ])
                   }
                 }
 
                 stage('HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
-                      ["build", "SCONS_CACHE=1 scons -j4"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                       ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
                       ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
                       ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
@@ -186,7 +186,7 @@ pipeline {
                   }
                   steps {
                     phone_steps("tici", [
-                      ["build", "SCONS_CACHE=1 scons -j8"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@@ -198,7 +198,7 @@ pipeline {
                 stage('camerad') {
                   steps {
                     phone_steps("eon-party", [
-                      ["build", "SCONS_CACHE=1 scons -j8"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                       ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                       ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
                     ])
@@ -208,7 +208,7 @@ pipeline {
                 stage('Tici camerad') {
                   steps {
                     phone_steps("tici-party", [
-                      ["build", "SCONS_CACHE=1 scons -j8"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
                       ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                       ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
                     ])

README.md

@@ -108,6 +108,7 @@ Supported Cars
 | Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | UX Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
@@ -144,7 +145,7 @@ Community Maintained Cars and Features
 
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Audi      | A3 2014-17                    | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
 | Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
 | Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -178,12 +179,14 @@ Community Maintained Cars and Features
 | Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Altima 2020                   | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| SEAT      | Leon 2020                     | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2019            | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
@@ -385,4 +388,4 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 [![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
 [![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
 [![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,7 +1,11 @@
 Version 0.8.5 (2021-XX-XX)
 ========================
+ * NEOS update: improved reliability and stability
+ * Smart model-based Forward Collision Warning
  * Hyundai Elantra 2021 support thanks to CruiseBrantley!
- * Added smart model-based FCW
+ * Lexus UX Hybrid 2019 support thanks to brianhaugen2!
+ * SEAT Leon 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
 
 Version 0.8.4 (2021-05-17)
 ========================
@@ -652,4 +656,4 @@ Version 0.1  (2016-11-29)
  * Adaptive cruise control is working
  * Lane keep assist is working
  * Support for Acura ILX 2016 with AcuraWatch Plus
- * Support for Honda Civic 2016 Touring Edition
+ * Support for Honda Civic 2016 Touring Edition

SConstruct

@@ -37,6 +37,10 @@ AddOption('--mpc-generate',
           action='store_true',
           help='regenerates the mpc sources')
 
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',
@@ -51,7 +55,6 @@ if arch == "aarch64" and TICI:
   arch = "larch64"
 
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
 
 lenv = {
   "PATH": os.environ['PATH'],
@@ -98,10 +101,6 @@ if arch == "aarch64" or arch == "larch64":
     cflags = ["-DQCOM", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
     rpath = []
-
-    if QCOM_REPLAY:
-      cflags += ["-DQCOM_REPLAY"]
-      cxxflags += ["-DQCOM_REPLAY"]
 else:
   cflags = []
   cxxflags = []
@@ -228,10 +227,8 @@ if os.environ.get('SCONS_CACHE'):
   if TICI:
     cache_dir = '/data/scons_cache'
 
-  if QCOM_REPLAY:
-    cache_dir = '/tmp/scons_cache_qcom_replay'
-
   CacheDir(cache_dir)
+  Clean(["."], cache_dir)
 
 node_interval = 5
 node_count = 0
@@ -339,7 +336,7 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])

cereal/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'QCOM_REPLAY')
+Import('env', 'envCython', 'arch')
 
 import shutil
 
@@ -60,7 +60,7 @@ vipc_sources = [
   'visionipc/visionbuf.cc',
 ]
 
-if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
+if arch in ["aarch64", "larch64"]:
   vipc_sources += ['visionipc/visionbuf_ion.cc']
 else:
   vipc_sources += ['visionipc/visionbuf_cl.cc']
@@ -70,6 +70,8 @@ vipc = env.Library('visionipc', vipc_objects)
 
 
 libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
 if arch == "Darwin":
   del libs[libs.index('OpenCL')]
   envCython['FRAMEWORKS'] += ['OpenCL']

cereal/car.capnp

@@ -475,9 +475,10 @@ struct CarParams {
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
-    kf @4 :Float32;
-    deadzoneBP @5 :List(Float32);
-    deadzoneV @6 :List(Float32);
+    kfBP @4 :List(Float32);
+    kfV @5 :List(Float32);
+    deadzoneBP @6 :List(Float32);
+    deadzoneV @7 :List(Float32);
   }
 
   struct LateralINDITuning {

cereal/log.capnp

@@ -1295,6 +1295,7 @@ struct Sentinel {
     startOfRoute @3;
   }
   type @0 :SentinelType;
+  signal @1 :Int32;
 }
 
 struct ManagerState {

cereal/visionipc/visionbuf.cc

@@ -15,7 +15,7 @@ extern "C" void compute_aligned_width_and_height(int width,
 #endif
 
 void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
-#if defined(QCOM) && !defined(QCOM_REPLAY)
+#ifdef QCOM
   compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
 #else
   *aligned_w = width; *aligned_h = height;

common/transformations/camera.py

@@ -5,14 +5,12 @@
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0
-eon_d_focal_length = 860.0
-leon_d_focal_length = 650.0
+eon_d_focal_length = 650.0
 tici_f_focal_length = 2648.0
 tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
 
 eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (1152, 864)
-leon_d_frame_size = (816, 612)
+eon_d_frame_size = (816, 612)
 tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
 
 # aka 'K' aka camera_frame_from_view_frame
@@ -22,11 +20,6 @@
   [0.0,  0.0,                                          1.0]])
 eon_intrinsics = eon_fcam_intrinsics # xx
 
-leon_dcam_intrinsics = np.array([
-  [leon_d_focal_length,  0.0,  float(leon_d_frame_size[0])/2],
-  [0.0,  leon_d_focal_length,  float(leon_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
 eon_dcam_intrinsics = np.array([
   [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
   [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],

installer/updater/update.json

@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06.zip",
-  "ota_hash": "969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b.img",
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
   "recovery_len": 15209772,
-  "recovery_hash": "9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b"
-}
+  "recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
+}

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="16.2"
+  export REQUIRED_NEOS_VERSION="17"
 fi
 
 if [ -z "$AGNOS_VERSION" ]; then