diff --git a/.gitignore b/.gitignore
index 6304b080164d59..915a798c76d390 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,10 +3,14 @@ venv/
.tags
.ipynb_checkpoints
.idea
+.overlay_init
+.overlay_consistent
.sconsign.dblite
.vscode
model2.png
a.out
+
+*.dylib
*.DSYM
*.d
*.pyc
@@ -14,7 +18,11 @@ a.out
.*.swp
.*.swo
.*.un~
+*.tmp
*.o
+*.o-*
+*.os
+*.os-*
*.so
*.a
*.clb
@@ -23,26 +31,40 @@ a.out
*.vcd
config.json
clcache
-launch_chffrplus.sh
-.vscode/*.json
-selfdrive/visiond/visiond
-.vscode/
+
+persist
board/obj/
selfdrive/boardd/boardd
selfdrive/logcatd/logcatd
selfdrive/mapd/default_speeds_by_region.json
selfdrive/proclogd/proclogd
-selfdrive/ui/ui
-selfdrive/test/tests/plant/out
-openpilot_tools/
+selfdrive/ui/_ui
+selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/loggerd/loggerd
-selfdrive/sensord/gpsd
-selfdrive/sensord/sensord
+selfdrive/sensord/_gpsd
+selfdrive/sensord/_sensord
+selfdrive/camerad/camerad
+selfdrive/modeld/_modeld
+selfdrive/modeld/_dmonitoringmodeld
/src/
+
one
-.vscode/*.json
-./launch_chffrplus.sh
openpilot
+notebooks
xx
+hyperthneed
+panda_jungle
+apks
+openpilot-apks
+
+.coverage*
+coverage.xml
+htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+cppcheck_report.txt
+comma.sh
diff --git a/.pylintrc b/.pylintrc
deleted file mode 100644
index 64a55daf8fabb3..00000000000000
--- a/.pylintrc
+++ /dev/null
@@ -1,585 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=print-statement,
- parameter-unpacking,
- unpacking-in-except,
- old-raise-syntax,
- backtick,
- long-suffix,
- old-ne-operator,
- old-octal-literal,
- import-star-module-level,
- non-ascii-bytes-literal,
- raw-checker-failed,
- bad-inline-option,
- locally-disabled,
- locally-enabled,
- file-ignored,
- suppressed-message,
- useless-suppression,
- deprecated-pragma,
- apply-builtin,
- basestring-builtin,
- buffer-builtin,
- cmp-builtin,
- coerce-builtin,
- execfile-builtin,
- file-builtin,
- long-builtin,
- raw_input-builtin,
- reduce-builtin,
- standarderror-builtin,
- unicode-builtin,
- xrange-builtin,
- coerce-method,
- delslice-method,
- getslice-method,
- setslice-method,
- no-absolute-import,
- old-division,
- dict-iter-method,
- dict-view-method,
- next-method-called,
- metaclass-assignment,
- indexing-exception,
- raising-string,
- reload-builtin,
- oct-method,
- hex-method,
- nonzero-method,
- cmp-method,
- input-builtin,
- round-builtin,
- intern-builtin,
- unichr-builtin,
- map-builtin-not-iterating,
- zip-builtin-not-iterating,
- range-builtin-not-iterating,
- filter-builtin-not-iterating,
- using-cmp-argument,
- eq-without-hash,
- div-method,
- idiv-method,
- rdiv-method,
- exception-message-attribute,
- invalid-str-codec,
- sys-max-int,
- bad-python3-import,
- deprecated-string-function,
- deprecated-str-translate-call,
- deprecated-itertools-function,
- deprecated-types-field,
- next-method-defined,
- dict-items-not-iterating,
- dict-keys-not-iterating,
- dict-values-not-iterating,
- bad-indentation,
- line-too-long,
- missing-docstring,
- multiple-statements,
- bad-continuation,
- invalid-name,
- too-many-arguments,
- too-many-locals,
- superfluous-parens,
- bad-whitespace,
- too-many-instance-attributes,
- wrong-import-position,
- ungrouped-imports,
- wrong-import-order,
- protected-access,
- trailing-whitespace,
- too-many-branches,
- too-few-public-methods,
- too-many-statements,
- trailing-newlines,
- attribute-defined-outside-init,
- too-many-return-statements,
- too-many-public-methods,
- unused-argument,
- old-style-class,
- no-init,
- len-as-condition,
- unneeded-not,
- no-self-use,
- multiple-imports,
- no-else-return,
- logging-not-lazy,
- fixme,
- redefined-outer-name,
- unused-variable,
- unsubscriptable-object,
- expression-not-assigned,
- too-many-boolean-expressions,
- consider-using-ternary,
- invalid-unary-operand-type,
- relative-import,
- deprecated-lambda
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
- XXX,
- TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
- _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )??$
-
-# Number of spaces of indent required inside a hanging or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1
-# tab).
-indent-string=' '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
- dict-separator
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
- bar,
- baz,
- toto,
- tutu,
- tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
- j,
- k,
- ex,
- Run,
- _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
- __new__,
- setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
- _fields,
- _replace,
- _source,
- _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
- TERMIOS,
- Bastion,
- rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception
diff --git a/.python-version b/.python-version
index 35b46aeacab588..cc1923a40b1a5e 100644
--- a/.python-version
+++ b/.python-version
@@ -1 +1 @@
-2.7.16
+3.8
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 8683d8bee015be..00000000000000
--- a/.travis.yml
+++ /dev/null
@@ -1,7 +0,0 @@
-sudo: required
-
-services:
- - docker
-
-script:
- - ./run_docker_tests.sh
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 738679aca5d5e6..45de84bd56563f 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -2,7 +2,7 @@
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
## Getting Started
@@ -12,20 +12,34 @@ Most open source development activity is coordinated through our [Discord](https
## Testing
-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
-
### Automated Testing
-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
+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
-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`.
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
## Car Ports (openpilot)
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).
+
+## Pull Requests
+
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
+```
+git clone https://github.com/commaai/openpilot.git --recursive
+```
+Or alternatively, when on the master branch:
+```
+git submodule update --init
+```
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
+Modules that are in seperate repositories include:
+* cereal
+* laika
+* opendbc
+* panda
+* rednose
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
deleted file mode 100644
index 6be64c13118aaa..00000000000000
--- a/Dockerfile.openpilot
+++ /dev/null
@@ -1,57 +0,0 @@
-FROM ubuntu:16.04
-ENV PYTHONUNBUFFERED 1
-
-RUN apt-get update && apt-get install -y \
- autoconf \
- build-essential \
- bzip2 \
- clang \
- git \
- libarchive-dev \
- libavcodec-dev \
- libavdevice-dev \
- libavfilter-dev \
- libavresample-dev \
- libavutil-dev \
- libffi-dev \
- libglib2.0-0 \
- libssl-dev \
- libswscale-dev \
- libtool \
- libusb-1.0-0 \
- libzmq5-dev \
- ocl-icd-libopencl1 \
- ocl-icd-opencl-dev \
- opencl-headers \
- pkg-config \
- python-pip \
- wget
-
-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh
-
-RUN pip install --upgrade pip==18.0
-RUN pip install pipenv==2018.11.26
-
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-RUN cd /tmp && pipenv install --deploy --system
-
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
-
-RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-RUN pip install -r /tmp/openpilot/tools/requirements.txt
-RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0
-
-COPY ./.pylintrc /tmp/openpilot/.pylintrc
-COPY ./common /tmp/openpilot/common
-COPY ./cereal /tmp/openpilot/cereal
-COPY ./opendbc /tmp/openpilot/opendbc
-COPY ./selfdrive /tmp/openpilot/selfdrive
-COPY ./phonelibs /tmp/openpilot/phonelibs
-COPY ./pyextra /tmp/openpilot/pyextra
-COPY ./panda /tmp/openpilot/panda
-
-RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
diff --git a/Jenkinsfile b/Jenkinsfile
new file mode 100644
index 00000000000000..a9479a111b920f
--- /dev/null
+++ b/Jenkinsfile
@@ -0,0 +1,160 @@
+def phone(String ip, String step_label, String cmd) {
+ def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
+
+ withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
+ sh label: step_label,
+ script: """
+ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
+echo \$\$ > /dev/cpuset/app/tasks || true
+echo \$PPID > /dev/cpuset/app/tasks || true
+mkdir -p /dev/shm
+chmod 777 /dev/shm
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+EOF"""
+ }
+}
+
+def phone_steps(String device_type, steps) {
+ lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+ timeout(time: 60, unit: 'MINUTES') {
+ phone(device_ip, "kill old processes", "pkill -f comma || true")
+ phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+ steps.each { item ->
+ phone(device_ip, item[0], item[1])
+ }
+ }
+ }
+}
+
+pipeline {
+ agent none
+ environment {
+ COMMA_JWT = credentials('athena-test-jwt')
+ TEST_DIR = "/data/openpilot"
+ }
+ options {
+ timeout(time: 1, unit: 'HOURS')
+ }
+
+ stages {
+
+ stage('Release Build') {
+ agent {
+ docker {
+ image 'python:3.7.3'
+ args '--user=root'
+ }
+ }
+ when {
+ branch 'devel-staging'
+ }
+ steps {
+ phone_steps("eon-build", [
+ ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+ ])
+ }
+ }
+
+ stage('openpilot tests') {
+ when {
+ not {
+ anyOf {
+ branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
+ }
+ }
+ }
+
+
+ stages {
+
+ /*
+ stage('PC tests') {
+ agent {
+ dockerfile {
+ filename 'Dockerfile.openpilotci'
+ args '--privileged --shm-size=1G --user=root'
+ }
+ }
+ stages {
+ stage('Build') {
+ steps {
+ sh 'scons -j$(nproc)'
+ }
+ }
+ }
+ post {
+ always {
+ // fix permissions since docker runs as another user
+ sh "chmod -R 777 ."
+ }
+ }
+ }
+ */
+
+ stage('On-device Tests') {
+ agent {
+ docker {
+ image 'python:3.7.3'
+ args '--user=root'
+ }
+ }
+
+ stages {
+ stage('parallel tests') {
+ parallel {
+
+ stage('Devel Build') {
+ environment {
+ CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
+ }
+ steps {
+ phone_steps("eon", [
+ ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
+ ["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
+ ["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
+ ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+ ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
+ ["test text window build", "cd selfdrive/ui/text && make clean && make"],
+ ])
+ }
+ }
+
+ stage('Replay Tests') {
+ steps {
+ phone_steps("eon2", [
+ ["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
+ ])
+ }
+ }
+
+ stage('HW + Unit Tests') {
+ steps {
+ phone_steps("eon", [
+ ["build", "SCONS_CACHE=1 scons -j4"],
+ ["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 camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
+ //["test updater", "python installer/updater/test_updater.py"],
+ ])
+ }
+ }
+
+ }
+ }
+ }
+
+ post {
+ always {
+ cleanWs()
+ }
+ }
+
+ }
+
+ }
+ }
+ }
+}
diff --git a/Makefile b/Makefile
deleted file mode 100644
index 4f690b2e7e88c1..00000000000000
--- a/Makefile
+++ /dev/null
@@ -1,9 +0,0 @@
-
-code_dir := $(shell pwd)
-
-# TODO: Add a global build system
-
-.PHONY: all
-all:
- cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
-
diff --git a/Pipfile b/Pipfile
deleted file mode 100644
index 7afffb1e940942..00000000000000
--- a/Pipfile
+++ /dev/null
@@ -1,145 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-ipython = "<6.0"
-aenum = "*"
-azure-batch = "==4.1.3"
-azure-common = "==1.1.16"
-azure-nspkg = "==3.0.1"
-azure-storage-blob = "==1.3.1"
-azure-storage-common = "==1.3.0"
-azure-storage-nspkg = "==3.0.0"
-bincopy = "*"
-bleach = "==1.5.0"
-boto = "*"
-"boto3" = "*"
-celery = "*"
-control = "*"
-datadog = "*"
-decorator = "*"
-dlib = "*"
-dominate = "*"
-elasticsearch = "*"
-entium = "==0.1.4"
-fasteners = "*"
-future = "*"
-futures = "*"
-gevent = "*"
-pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
-gunicorn = "*"
-"h5py" = "*"
-hexdump = "*"
-"html5lib" = "==0.9999999"
-imageio = "*"
-intervaltree = "*"
-ipykernel = "<5.0"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-libarchive = "*"
-lru-dict = "*"
-lxml = "*"
-matplotlib = "==2.2.3"
-"mpld3" = "*"
-msgpack-python = "*"
-nbstripout = "*"
-nose-parameterized = "*"
-numpy = "==1.14.5"
-osmium = "==2.15.0"
-pbr = "==5.1.3"
-percache = "*"
-pprofile = "*"
-psutil = "*"
-pycurl = "*"
-git-pylint-commit-hook = "==2.5.1"
-pymongo = "*"
-"pynmea2" = "*"
-pypolyline = "==0.1.17"
-pysendfile = "*"
-python-logstash = "*"
-pyvcd = "*"
-redis = "*"
-redlock = "*"
-"s2sphere" = "*"
-scikit-image = "*"
-"subprocess32" = "*"
-supervisor = "*"
-tenacity = "*"
-tensorflow-gpu = "==1.13.0rc0"
-"transforms3d" = "*"
-utm = "*"
-"v4l2" = "*"
-visdom = "*"
-PyJWT = "==1.4.1"
-PyMySQL = "==0.9.2"
-Theano = "*"
-Werkzeug = "*"
-"backports.lzma" = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Keras = ">=2.1.6"
-keras-maskrcnn = "*"
-keras-retinanet = "*"
-Pygments = "*"
-PyNaCl = "*"
-"PySDL2" = "*"
-reverse_geocoder = "*"
-Shapely = "*"
-SQLAlchemy = "==1.2.7"
-uWSGI = "*"
-scipy = "*"
-fastcluster = "==1.1.25"
-backports-abc = "*"
-pygame = "*"
-simplejson = "*"
-python-logstash-async = "*"
-pandas = "*"
-seaborn = "*"
-tensorflow-estimator = "==1.10.12"
-pyproj = "*"
-
-[packages]
-overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
-atomicwrites = "*"
-cffi = "*"
-crcmod = "*"
-hexdump = "*"
-libusb1 = "*"
-numpy = "*"
-psutil = "*"
-pycapnp = "*"
-cryptography = "*"
-pyserial = "*"
-python-dateutil = "*"
-pyzmq = "*"
-raven = "*"
-requests = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "*"
-tqdm = "*"
-Cython = "*"
-PyYAML = "*"
-websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
-urllib3 = "*"
-chardet = "*"
-idna = "*"
-gunicorn = "*"
-utm = "*"
-json-rpc = "*"
-Flask = "*"
-PyJWT = "*"
-"Jinja2" = "*"
-nose = "*"
-pyflakes = "*"
-pylint = "*"
-pycryptodome = "*"
-
-[requires]
-python_version = "2.7"
diff --git a/Pipfile.lock b/Pipfile.lock
deleted file mode 100644
index 15416a7bf6acce..00000000000000
--- a/Pipfile.lock
+++ /dev/null
@@ -1,2887 +0,0 @@
-{
- "_meta": {
- "hash": {
- "sha256": "43f96719ff9a1b7eae6c7a88f903c4f5a137c2b195e3ba148f32767827b98710"
- },
- "pipfile-spec": 6,
- "requires": {
- "python_version": "2.7"
- },
- "sources": [
- {
- "name": "pypi",
- "url": "https://pypi.org/simple",
- "verify_ssl": true
- }
- ]
- },
- "default": {
- "asn1crypto": {
- "hashes": [
- "sha256:2f1adbb7546ed199e3c90ef23ec95c5cf3585bac7d11fb7eb562a3fe89c64e87",
- "sha256:9d5c20441baf0cb60a4ac34cc447c6c189024b6b4c6cd7877034f4965c464e49"
- ],
- "version": "==0.24.0"
- },
- "astroid": {
- "hashes": [
- "sha256:87de48a92e29cedf7210ffa853d11441e7ad94cb47bacd91b023499b51cbc756",
- "sha256:d25869fc7f44f1d9fb7d24fd7ea0639656f5355fc3089cd1f3d18c6ec6b124c7"
- ],
- "version": "==1.6.6"
- },
- "atomicwrites": {
- "hashes": [
- "sha256:03472c30eb2c5d1ba9227e4c2ca66ab8287fbfbbda3888aa93dc2e28fc6811b4",
- "sha256:75a9445bac02d8d058d5e1fe689654ba5a6556a1dfd8ce6ec55a0ed79866cfa6"
- ],
- "index": "pypi",
- "version": "==1.3.0"
- },
- "backports.functools-lru-cache": {
- "hashes": [
- "sha256:9d98697f088eb1b0fa451391f91afb5e3ebde16bbdb272819fd091151fda4f1a",
- "sha256:f0b0e4eba956de51238e17573b7087e852dfe9854afd2e9c873f73fc0ca0a6dd"
- ],
- "markers": "python_version == '2.7'",
- "version": "==1.5"
- },
- "certifi": {
- "hashes": [
- "sha256:046832c04d4e752f37383b628bc601a7ea7211496b4638f6514d0e5b9acc4939",
- "sha256:945e3ba63a0b9f577b1395204e13c3a231f9bc0223888be653286534e5873695"
- ],
- "version": "==2019.6.16"
- },
- "cffi": {
- "hashes": [
- "sha256:041c81822e9f84b1d9c401182e174996f0bae9991f33725d059b771744290774",
- "sha256:046ef9a22f5d3eed06334d01b1e836977eeef500d9b78e9ef693f9380ad0b83d",
- "sha256:066bc4c7895c91812eff46f4b1c285220947d4aa46fa0a2651ff85f2afae9c90",
- "sha256:066c7ff148ae33040c01058662d6752fd73fbc8e64787229ea8498c7d7f4041b",
- "sha256:2444d0c61f03dcd26dbf7600cf64354376ee579acad77aef459e34efcb438c63",
- "sha256:300832850b8f7967e278870c5d51e3819b9aad8f0a2c8dbe39ab11f119237f45",
- "sha256:34c77afe85b6b9e967bd8154e3855e847b70ca42043db6ad17f26899a3df1b25",
- "sha256:46de5fa00f7ac09f020729148ff632819649b3e05a007d286242c4882f7b1dc3",
- "sha256:4aa8ee7ba27c472d429b980c51e714a24f47ca296d53f4d7868075b175866f4b",
- "sha256:4d0004eb4351e35ed950c14c11e734182591465a33e960a4ab5e8d4f04d72647",
- "sha256:4e3d3f31a1e202b0f5a35ba3bc4eb41e2fc2b11c1eff38b362de710bcffb5016",
- "sha256:50bec6d35e6b1aaeb17f7c4e2b9374ebf95a8975d57863546fa83e8d31bdb8c4",
- "sha256:55cad9a6df1e2a1d62063f79d0881a414a906a6962bc160ac968cc03ed3efcfb",
- "sha256:5662ad4e4e84f1eaa8efce5da695c5d2e229c563f9d5ce5b0113f71321bcf753",
- "sha256:59b4dc008f98fc6ee2bb4fd7fc786a8d70000d058c2bbe2698275bc53a8d3fa7",
- "sha256:73e1ffefe05e4ccd7bcea61af76f36077b914f92b76f95ccf00b0c1b9186f3f9",
- "sha256:a1f0fd46eba2d71ce1589f7e50a9e2ffaeb739fb2c11e8192aa2b45d5f6cc41f",
- "sha256:a2e85dc204556657661051ff4bab75a84e968669765c8a2cd425918699c3d0e8",
- "sha256:a5457d47dfff24882a21492e5815f891c0ca35fefae8aa742c6c263dac16ef1f",
- "sha256:a8dccd61d52a8dae4a825cdbb7735da530179fea472903eb871a5513b5abbfdc",
- "sha256:ae61af521ed676cf16ae94f30fe202781a38d7178b6b4ab622e4eec8cefaff42",
- "sha256:b012a5edb48288f77a63dba0840c92d0504aa215612da4541b7b42d849bc83a3",
- "sha256:d2c5cfa536227f57f97c92ac30c8109688ace8fa4ac086d19d0af47d134e2909",
- "sha256:d42b5796e20aacc9d15e66befb7a345454eef794fdb0737d1af593447c6c8f45",
- "sha256:dee54f5d30d775f525894d67b1495625dd9322945e7fee00731952e0368ff42d",
- "sha256:e070535507bd6aa07124258171be2ee8dfc19119c28ca94c9dfb7efd23564512",
- "sha256:e1ff2748c84d97b065cc95429814cdba39bcbd77c9c85c89344b317dc0d9cbff",
- "sha256:ed851c75d1e0e043cbf5ca9a8e1b13c4c90f3fbd863dacb01c0808e2b5204201"
- ],
- "index": "pypi",
- "version": "==1.12.3"
- },
- "chardet": {
- "hashes": [
- "sha256:84ab92ed1c4d4f16916e05906b6b75a6c0fb5db821cc65e70cbd64a3e2a5eaae",
- "sha256:fc323ffcaeaed0e0a02bf4d117757b98aed530d9ed4531e3e15460124c106691"
- ],
- "index": "pypi",
- "version": "==3.0.4"
- },
- "click": {
- "hashes": [
- "sha256:2335065e6395b9e67ca716de5f7526736bfa6ceead690adf616d925bdc622b13",
- "sha256:5b94b49521f6456670fdb30cd82a4eca9412788a93fa6dd6df72c94d5a8ff2d7"
- ],
- "version": "==7.0"
- },
- "configparser": {
- "hashes": [
- "sha256:8be81d89d6e7b4c0d4e44bcc525845f6da25821de80cb5e06e7e0238a2899e32",
- "sha256:da60d0014fd8c55eb48c1c5354352e363e2d30bbf7057e5e171a468390184c75"
- ],
- "markers": "python_version == '2.7'",
- "version": "==3.7.4"
- },
- "contextlib2": {
- "hashes": [
- "sha256:509f9419ee91cdd00ba34443217d5ca51f5a364a404e1dce9e8979cea969ca48",
- "sha256:f5260a6e679d2ff42ec91ec5252f4eeffdcf21053db9113bd0a8e4d953769c00"
- ],
- "markers": "python_version < '3.2'",
- "version": "==0.5.5"
- },
- "crcmod": {
- "hashes": [
- "sha256:dc7051a0db5f2bd48665a990d3ec1cc305a466a77358ca4492826f41f283601e"
- ],
- "index": "pypi",
- "version": "==1.7"
- },
- "cryptography": {
- "hashes": [
- "sha256:24b61e5fcb506424d3ec4e18bca995833839bf13c59fc43e530e488f28d46b8c",
- "sha256:25dd1581a183e9e7a806fe0543f485103232f940fcfc301db65e630512cce643",
- "sha256:3452bba7c21c69f2df772762be0066c7ed5dc65df494a1d53a58b683a83e1216",
- "sha256:41a0be220dd1ed9e998f5891948306eb8c812b512dc398e5a01846d855050799",
- "sha256:5751d8a11b956fbfa314f6553d186b94aa70fdb03d8a4d4f1c82dcacf0cbe28a",
- "sha256:5f61c7d749048fa6e3322258b4263463bfccefecb0dd731b6561cb617a1d9bb9",
- "sha256:72e24c521fa2106f19623a3851e9f89ddfdeb9ac63871c7643790f872a305dfc",
- "sha256:7b97ae6ef5cba2e3bb14256625423413d5ce8d1abb91d4f29b6d1a081da765f8",
- "sha256:961e886d8a3590fd2c723cf07be14e2a91cf53c25f02435c04d39e90780e3b53",
- "sha256:96d8473848e984184b6728e2c9d391482008646276c3ff084a1bd89e15ff53a1",
- "sha256:ae536da50c7ad1e002c3eee101871d93abdc90d9c5f651818450a0d3af718609",
- "sha256:b0db0cecf396033abb4a93c95d1602f268b3a68bb0a9cc06a7cff587bb9a7292",
- "sha256:cfee9164954c186b191b91d4193989ca994703b2fff406f71cf454a2d3c7327e",
- "sha256:e6347742ac8f35ded4a46ff835c60e68c22a536a8ae5c4422966d06946b6d4c6",
- "sha256:f27d93f0139a3c056172ebb5d4f9056e770fdf0206c2f422ff2ebbad142e09ed",
- "sha256:f57b76e46a58b63d1c6375017f4564a28f19a5ca912691fd2e4261b3414b618d"
- ],
- "index": "pypi",
- "version": "==2.7"
- },
- "cython": {
- "hashes": [
- "sha256:04ebf16df9406d3279a2489c3327803c782d9e17637d525bfb44ecf5ec65850f",
- "sha256:1486ec88d1c73dea3846a5640054018b002608e04a791ccbd2082a47bce4440a",
- "sha256:20da832a5e9a8e93d1e1eb64650258956723940968eb585506531719b55b804f",
- "sha256:2464688b523d7a133b52cf1343c1c595b92fc6554af1015f74b9e49951e992d4",
- "sha256:27827b68a8359e9ab6bf683c68d8ee79863a0c94a577acf56aa02cc302e16f51",
- "sha256:27deeeeca0fd8933af07923e809c8fed0763d150a4fdd4082932a33b8c874ed6",
- "sha256:31f4da785d5e09deb852ea59795a629c5befb6040929e7880c6f63e6668246ce",
- "sha256:4828cf8fa638c35139e643f30201b240c0d156b1b9967a7321ae42d721d7224c",
- "sha256:48b365e32cc5639ae2c239d7bd4f8a1d920a13a7ae92113c4c938903c9400147",
- "sha256:4eb71856c1d1b33083df9318fd30143470ad6f0d1b9ad2ee61a120710842d28b",
- "sha256:5b06ef8422d27d8128f8f80bdefa111eadcab246fba1d668720af4f0b97b7a0e",
- "sha256:71c553640e1ddaaf143e38dbc6cd1863fa3c0738fb1830a9aaffba9a51838f30",
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diff --git a/README.md b/README.md
index d4dd5b11da6980..56b83dc458c14a 100644
--- a/README.md
+++ b/README.md
@@ -1,184 +1,329 @@
-WARNING: TESLA ONLY OPENPILOT 0.6.3-T11
+WARNING: TESLA ONLY OPENPILOT 0.7.10
======
This repo contains code that was modified specifically for Tesla and will not work on other cars!
+Main Comma.ai code is Copyright (c) 2018, Comma.ai, Inc. Additonal work (ALCA, webcamera, any modifications to base Comma.ao code) is licensed under This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
-[](#)
-
-Welcome to openpilot
-======
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
-
-The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+[](#)
Table of Contents
=======================
-* [Community](#community)
-* [Hardware](#hardware)
+* [What is openpilot?](#what-is-openpilot)
+* [Integration with Stock Features](#integration-with-stock-features)
+* [Supported Hardware](#supported-hardware)
* [Supported Cars](#supported-cars)
-* [Community Maintained Cars](#community-maintained-cars)
-* [In Progress Cars](#in-progress-cars)
-* [How can I add support for my car?](#how-can-i-add-support-for-my-car)
-* [Directory structure](#directory-structure)
-* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
+* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
+* [Installation Instructions](#installation-instructions)
+* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
+* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
+* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
+* [User Data and comma Account](#user-data-and-comma-account)
+* [Safety and Testing](#safety-and-testing)
* [Testing on PC](#testing-on-pc)
-* [Contributing](#contributing)
+* [Community and Contributing](#community-and-contributing)
+* [Directory Structure](#directory-structure)
* [Licensing](#licensing)
---
-Community
+What is openpilot?
------
-openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
-
-We have a [Twitter you should follow](https://twitter.com/comma_ai).
-
-Also, we have a several thousand people community on [Discord](https://discord.comma.ai).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
-
-
-
-
+
+
+
+
-
-
-
-
+
+
+
+
-Hardware
+Integration with Stock Features
------
-At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
+In all supported cars:
+* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
+* Stock LDW is replaced by openpilot LDW.
+
+Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
+* Stock ACC is replaced by openpilot ACC.
+* openpilot FCW operates in addition to stock FCW.
-Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
+openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
+
+Supported Hardware
+------
+
+At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
Supported Cars
------
-| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura | ILX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph1| 25mph | Nidec |
-| Acura | RDX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph1| 12mph | Nidec |
-| Buick3 | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7|
-| Chevrolet3| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7|
-| Chevrolet3| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7|
-| Cadillac3 | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7|
-| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
-| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
-| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
-| GMC3 | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7|
-| Holden3 | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7|
-| Honda | Accord 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
-| Honda | Accord Hybrid 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
-| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
-| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
-| Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
-| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph1| 12mph | Nidec |
-| Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
-| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
-| Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph1| 0mph | Inverted Nidec |
-| Honda | Passport 2019 | All | Yes | Yes | 25mph1| 12mph | Inverted Nidec |
-| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec |
-| Honda | Pilot 2019 | All | Yes | Yes | 25mph1| 12mph | Inverted Nidec |
-| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec |
-| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom6|
-| Hyundai | Elantra 2017-19 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom6|
-| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom6|
-| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
-| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
-| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6|
-| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom6|
-| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6|
-| Lexus | ES Hybrid 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
-| Lexus | RX Hybrid 2016-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
-| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Custom4|
-| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Custom4|
-| Toyota | Avalon 2016 | TSS-P | Yes | Yes2| 20mph1| 0mph | Toyota |
-| Toyota | Avalon 2017-18 | All | Yes | Yes2| 20mph1| 0mph | Toyota |
-| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph5 | 0mph | Toyota |
-| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph5 | 0mph | Toyota |
-| Toyota | C-HR 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
-| Toyota | C-HR Hybrid 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
-| Toyota | Corolla 2017-19 | All | Yes | Yes2| 20mph1| 0mph | Toyota |
-| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
-| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
-| Toyota | Highlander 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
-| Toyota | Highlander Hybrid 2017-19| All | Yes | Yes2| 0mph | 0mph | Toyota |
-| Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | Toyota |
-| Toyota | Prius 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
-| Toyota | Prius Prime 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
-| Toyota | Rav4 2016 | TSS-P | Yes | Yes2| 20mph1| 0mph | Toyota |
-| Toyota | Rav4 2017-18 | All | Yes | Yes2| 20mph1| 0mph | Toyota |
-| Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
-| Toyota | Rav4 Hybrid 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | Toyota |
-| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota |
-| Toyota | Sienna 2018 | All | Yes | Yes2| 0mph | 0mph | Toyota |
-
-1[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).***
-2When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota).
-3[GM installation guide](https://zoneos.com/volt/).
-4Subaru Giraffe is DIY.
-528mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-6Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.
-7Community built Giraffe, find more information [here](https://zoneos.com/shop/).
-
-Community Maintained Cars
+| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
+| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph1 | 25mph |
+| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph1 | 12mph |
+| Acura | RDX 2020 | All | Stock | 0mph | 3mph |
+| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
+| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
+| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
+| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
+| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph2 |
+| Honda | CR-V 2015-16 | Touring | openpilot | 25mph1 | 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 | 25mph1 | 12mph |
+| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph1 | 12mph |
+| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
+| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
+| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph1 | 0mph |
+| Honda | Passport 2019 | All | openpilot | 25mph1 | 12mph |
+| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph1 | 12mph |
+| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph1 | 12mph |
+| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
+| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
+| Lexus | CT Hybrid 2017-18 | LSS | Stock3| 0mph | 0mph |
+| Lexus | ES 2019-20 | 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 2018 | All | Stock3| 0mph | 0mph |
+| Lexus | NX Hybrid 2018 | All | Stock3| 0mph | 0mph |
+| Lexus | RX 2016-18 | All | Stock3| 0mph | 0mph |
+| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
+| Lexus | RX Hybrid 2016-19 | All | Stock3| 0mph | 0mph |
+| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
+| Toyota | Avalon 2016-18 | TSS-P | Stock3| 20mph1 | 0mph |
+| Toyota | Camry 2018-20 | All | Stock | 0mph4 | 0mph |
+| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
+| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph4 | 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 | Stock3| 20mph1 | 0mph |
+| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
+| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
+| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
+| Toyota | Highlander 2017-19 | All | Stock3| 0mph | 0mph |
+| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
+| Toyota | Highlander Hybrid 2017-19 | All | Stock3| 0mph | 0mph |
+| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
+| Toyota | Prius 2016-20 | TSS-P | Stock3| 0mph | 0mph |
+| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
+| Toyota | Prius Prime 2017-20 | All | Stock3| 0mph | 0mph |
+| Toyota | Rav4 2016-18 | TSS-P | Stock3| 20mph1 | 0mph |
+| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
+| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock3| 0mph | 0mph |
+| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
+| Toyota | Sienna 2018-20 | All | Stock3| 0mph | 0mph |
+
+1[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).***
+22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+3When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).***
+428mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+
+Community Maintained Cars and Features
+------
+
+| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Buick | Regal 20181 | Adaptive Cruise | openpilot | 0mph | 7mph |
+| Cadillac | ATS 20181 | Adaptive Cruise | openpilot | 0mph | 7mph |
+| Chevrolet | Malibu 20171 | Adaptive Cruise | openpilot | 0mph | 7mph |
+| Chevrolet | Volt 2017-181 | Adaptive Cruise | openpilot | 0mph | 7mph |
+| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
+| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
+| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
+| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
+| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
+| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
+| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
+| GMC | Acadia 20181 | Adaptive Cruise | openpilot | 0mph | 7mph |
+| Holden | Astra 20171 | 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 2019 | SCC + LKAS | Stock | 0mph | 32mph |
+| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
+| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
+| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
+| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
+| Hyundai | Sonata 2019 | SCC + LKAS | 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 | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
+| 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 2018-20 | ProPILOT | Stock | 0mph | 0mph |
+| Nissan | Rogue 2018-19 | 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 2019-20 | EyeSight | Stock | 0mph | 0mph |
+| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
+| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
+
+1Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).***
+
+Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
+
+Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
+
+To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
+
+Installation Instructions
------
-| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Inverted Nidec |
-| Tesla | Model S 2012-13 | All | Yes | Not yet | Not applicable | 0mph | Custom8|
+Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
+
+Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
-[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
-[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)
-8Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla)
+Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
-Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
+You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
-In Progress Cars
+Limitations of openpilot ALC and LDW
------
-- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
- - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
-- All Hyundai with SmartSense.
-- All Kia with SCC and LKAS.
-- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
-How can I add support for my car?
+openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
+
+While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
+
+Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
+* In the presence of restricted lanes or construction zones.
+* When driving on highly banked roads or in presence of strong cross-wind.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Driving on hills, narrow, or winding roads.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+Limitations of openpilot ACC and FCW
+------
+
+openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
+
+Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* Approaching a toll booth, a bridge or a large metal plate.
+* When driving on roads with pedestrians, cyclists, etc...
+* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
+* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
+* In presence of vehicles in the same lane that are not moving.
+* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
+* When surrounding vehicles perform close cut-ins from neighbor lanes.
+* Driving on hills, narrow, or winding roads.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Interference from other equipment that generates radar waves.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+Limitations of openpilot DM
+------
+
+openpilot DM should not be considered an exact measurement of the alertness of the driver.
+
+Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
+
+* Low light conditions, such as driving at night or in dark tunnels.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* The driver's face is partially or completely outside field of view of the driver facing camera.
+* The driver facing camera is obstructed, covered, or damaged.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
+
+User Data and comma Account
------
-If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
+By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
+Safety and Testing
+----
-- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
-- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
-- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
+* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
+* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
-Directory structure
+Testing on PC
+------
+For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
+
+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.
+
+
+Community and Contributing
+------
+
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
+
+You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+
+And [follow us on Twitter](https://twitter.com/comma_ai).
+
+Directory Structure
------
.
├── apk # The apk files used for the UI
- ├── cereal # The messaging spec used for all logs on EON
+ ├── cereal # The messaging spec and libs used for all logs
├── common # Library like functionality we've developed here
├── installer/updater # Manages auto-updates of openpilot
├── opendbc # Files showing how to interpret data from cars
- ├── panda # Code used to communicate on CAN and LIN
- ├── phonelibs # Libraries used on EON
- ├── pyextra # Libraries used on EON
+ ├── panda # Code used to communicate on CAN
+ ├── phonelibs # Libraries used on NEOS devices
+ ├── pyextra # Libraries used on NEOS devices
└── selfdrive # Code needed to drive the car
- ├── assets # Fonts and images for UI
+ ├── assets # Fonts, images and sounds for UI
├── athena # Allows communication with the app
├── boardd # Daemon to talk to the board
- ├── can # Helpers for parsing CAN messages
+ ├── camerad # Driver to capture images from the camera sensors
├── car # Car specific code to read states and control actuators
├── common # Shared C/C++ code for the daemons
├── controls # Perception, planning and controls
@@ -186,54 +331,20 @@ Directory structure
├── locationd # Soon to be home of precise location
├── logcatd # Android logcat as a service
├── loggerd # Logger and uploader of car data
+ ├── modeld # Driving and monitoring model runners
├── proclogd # Logs information from proc
├── sensord # IMU / GPS interface code
- ├── test # Car simulator running code through virtual maneuvers
- ├── ui # The UI
- └── visiond # Vision pipeline
-
-To understand how the services interact, see `selfdrive/service_list.yaml`
-
-User Data / chffr Account / Crash Reporting
-------
+ ├── test # Unit tests, system tests and a car simulator
+ └── ui # The UI
-By default, openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
-
-It's open source software, so you are free to disable it if you wish.
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The user facing camera is only logged if you explicitly opt-in in settings.
-It does not log the microphone.
-
-By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
-Testing on PC
-------
-
-Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
-
-Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
-
-```bash
-# Requires working docker
-./run_docker_tests.sh
-```
-
-Contributing
-------
-
-We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
-
-We also have a [bounty program](https://comma.ai/bounties.html).
-
-Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
+To understand how the services interact, see `cereal/service_list.yaml`.
Licensing
------
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
-Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
@@ -242,3 +353,9 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
---
+
+[](https://github.com/commaai/openpilot/actions)
+[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
+[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
+[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
+[](https://codecov.io/gh/commaai/openpilot)
diff --git a/README_chffrplus.md b/README_chffrplus.md
deleted file mode 100644
index dc13e8c3f264c6..00000000000000
--- a/README_chffrplus.md
+++ /dev/null
@@ -1,36 +0,0 @@
-Welcome to chffrplus
-======
-
-[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
-
-This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
-
-It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
-
-
-Hardware
-------
-
-Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
-
-Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
-
-
-User Data / chffr Account / Crash Reporting
-------
-
-By default chffrplus creates an account and includes a client for chffr, our dashcam app.
-
-It's open source software, so you are free to disable it if you wish.
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-It does not log the user facing camera or the microphone.
-
-By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
-
-Licensing
-------
-
-chffrplus is released under the MIT license.
-
diff --git a/RELEASES.md b/RELEASES.md
index d847bb3f05bc8b..c427e60ddb5fcc 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,173 @@
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+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
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
+Version 0.7.6.1 (2020-06-16)
+========================
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
+
+Version 0.7.5 (2020-05-13)
+========================
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
+Version 0.7.1 (2020-01-20)
+========================
+ * comma two support!
+ * Lane Change Assist above 45 mph!
+ * Replace zmq with custom messaging library, msgq!
+ * Supercombo model: calibration and driving models are combined for better lead estimate
+ * More robust updater thanks to jyoung8607! Requires NEOS update
+ * Improve low speed ACC tuning
+
+Version 0.7 (2019-12-13)
+========================
+ * Move to SCons build system!
+ * Add Lane Departure Warning (LDW) for all supported vehicles!
+ * NEOS update: increase wifi speed thanks to jyoung8607!
+ * Adaptive driver monitoring based on scene
+ * New driving model trained end-to-end: improve lane lines and lead detection
+ * Smarter torque limit alerts for all cars
+ * Improve GM longitudinal control: proper computations for 15Hz radar
+ * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
+ * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
+ * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Forward stock FCW for Honda Nidec
+ * Volkswagen port now standard: comma Harness intercepts stock camera
+
+Version 0.6.6 (2019-11-05)
+========================
+ * Volkswagen support thanks to jyoung8607!
+ * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
+ * Lexus ES with TSS 2.0 support thanks to energee!
+ * Fix GM ignition detection and lock safety mode not required anymore
+ * Log panda firmware and dongle ID thanks to martinl!
+ * New driving model: improve path prediction and lead detection
+ * New driver monitoring model, 4x smaller and running on DSP
+ * Display an alert and don't start openpilot if panda has wrong firmware
+ * Fix bug preventing EON from terminating processes after a drive
+ * Remove support for Toyota giraffe without the 120Ohm resistor
+
+Version 0.6.5 (2019-10-07)
+========================
+ * NEOS update: upgrade to Python3 and new installer!
+ * comma Harness support!
+ * New driving model: improve path prediction
+ * New driver monitoring model: more accurate face and eye detection
+ * Redesign offroad screen to display updates and alerts
+ * Increase maximum allowed acceleration
+ * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
+ * Lexus CT Hybrid support thanks to thomaspich!
+ * Louder chime for critical alerts
+ * Add toggle to switch to dashcam mode
+ * Fix "invalid vehicle params" error on DSU-less Toyota
+
+Version 0.6.4 (2019-09-08)
+========================
+ * Forward stock AEB for Honda Nidec
+ * Improve lane centering on banked roads
+ * Always-on forward collision warning
+ * Always-on driver monitoring, except for right hand drive countries
+ * Driver monitoring learns the user's normal driving position
+ * Honda Fit support thanks to energee!
+ * Lexus IS support
+
Version 0.6.3 (2019-08-12)
========================
* Alert sounds from EON: requires NEOS update
@@ -38,7 +208,7 @@ Version 0.6 (2019-07-01)
* Panda safety code is MISRA compliant and ships with a signed version on release2
* New NEOS is 500MB smaller and has a reproducible usr/pipenv
* Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS2
+ * Improve tuning for supported Toyota with TSS 2.0
* Various other stability improvements
Version 0.5.13 (2019-05-31)
@@ -344,96 +514,96 @@ Version 0.3.4 (2017-07-28)
Version 0.3.3 (2017-06-28)
===========================
- * Improved model trained on more data
- * Alpha CR-V support thanks to energee and johnnwvs!
- * Using the opendbc project for DBC files
- * Minor performance improvements
- * UI update thanks to pjlao307
- * Power off button
- * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
Version 0.3.2 (2017-05-22)
===========================
- * Minor stability bugfixes
- * Added metrics and rear view mirror disable to settings
- * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
Version 0.3.1 (2017-05-17)
===========================
- * visiond stability bugfix
- * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing
Version 0.3.0 (2017-05-12)
===========================
- * Add CarParams struct to improve the abstraction layer
- * Refactor visiond IPC to support multiple clients
- * Add raw GPS and beginning support for navigation
- * Improve model in visiond using crowdsourced data
- * Add improved system logging to diagnose instability
- * Rewrite baseui in React Native
- * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
Version 0.2.9 (2017-03-01)
===========================
- * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1
Version 0.2.8 (2017-02-27)
===========================
- * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71
Version 0.2.7 (2017-02-08)
===========================
- * Better performance and pictures at night
- * Fix ptr alignment issue in boardd
- * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold
Version 0.2.6 (2017-01-31)
===========================
- * Fix bug in visiond model execution
+ * Fix bug in visiond model execution
Version 0.2.5 (2017-01-30)
===========================
- * Fix race condition in manager
+ * Fix race condition in manager
Version 0.2.4 (2017-01-27)
===========================
- * OnePlus 3T support
- * Enable installation as NEOS app
- * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
Version 0.2.3 (2017-01-11)
===========================
- * Reduce space usage by 80%
- * Add better logging
- * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
Version 0.2.2 (2017-01-10)
===========================
- * Board triggers started signal on CAN messages
- * Improved autoexposure
- * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
Version 0.2.1 (2016-12-14)
===========================
- * Performance improvements, removal of more numpy
- * Fix boardd process priority
- * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel
Version 0.2 (2016-12-12)
=========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
- * controlsd has been refactored
- * Shipped plant model and testing maneuvers
- * visiond exits more gracefully now
- * Hardware encoder in visiond should always init
- * ui now turns off the screen after 30 seconds
- * Switch to openpilot release branch for future releases
- * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
Version 0.1 (2016-11-29)
=========================
- * Initial release of openpilot
- * 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
+ * Initial release of openpilot
+ * 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
diff --git a/SAFETY.md b/SAFETY.md
index 3cda811e0cd9f9..9cf8933b930987 100644
--- a/SAFETY.md
+++ b/SAFETY.md
@@ -1,151 +1,34 @@
openpilot Safety
======
-openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system.
-Like other ACC and LKA systems, openpilot requires the driver to be alert and to
-pay attention at all times. We repeat, **driver alertness is necessary, but not
-sufficient, for openpilot to be used safely**.
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
+Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
+driver to be alert and to pay attention at all times.
In order to enforce driver alertness, openpilot includes a driver monitoring feature
that alerts the driver when distracted.
However, even with an attentive driver, we must make further efforts for the system to be
-safe. We have designed openpilot with two other safety considerations.
+safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
+used safely** and openpilot is provided with no warranty of fitness for any purpose.
-1. The driver must always be capable to immediately retake manual control of the vehicle,
+openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
+industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
+ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
+released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
+on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
+hardware-in-the-loop and in-vehicle tests before each software release.
+
+Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
+ensuring two main safety requirements.
+
+1. The driver must always be capable to immediately retake manual control of the vehicle,
by stepping on either pedal or by pressing the cancel button.
2. The vehicle must not alter its trajectory too quickly for the driver to safely
react. This means that while the system is engaged, the actuators are constrained
to operate within reasonable limits.
-Following are details of the car specific safety implementations:
-
-Honda/Acura
-------
-
- - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
- the stock system.
-
- - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM).
- The PCM limits acceleration to what is reasonable for a cruise control system. With an
- interceptor, the gas is clipped to 60%.
-
- - The brake is controlled by the 0x1FA CAN message. This message allows full
- braking, although the panda firmware and openpilot clip it to 1/4th of the max.
- This is approximately 0.3g of braking.
-
- - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS)
- controller in the car limits the torque to a very small amount, so regardless of the
- message, the controller cannot jerk the wheel.
-
- - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
- either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
- white led on the panda signifies if the panda is allowing control messages.
-
- - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
- replay of the same message.
-
-Toyota/Lexus
-------
-
- - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
- the stock system.
-
- - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
- the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
- control limits. Without the stock DSU connected, the acceleration command is controlled by the
- 0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
- by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
- Module (ECM) while the cruise control system is disengaged.
-
- - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
- commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
- units above the actual EPS generated motor torque to ensure limited differences between
- commanded and actual torques.
-
- - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
- respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
- panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
- the brake pedal pressed signal.
-
- - The cruise control system state is contained in the 0x1D2 message. No control messages are
- allowed if the cruise control system is not active. This is enforced by openpilot and the
- panda firmware. The white led on the panda signifies if the panda is allowing control messages.
-
-GM/Chevrolet
-------
-
- - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
- the stock system.
-
- - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
- openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
- while 3072 correspond to approximately 0.18g of acceleration from stop.
-
- - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
- and openpilot to 350. This is approximately 0.3g of braking.
-
- - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
- commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
- torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
- driver's will.
-
- - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
- respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
- panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
- the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
- regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
-
- - GM CAN uses both a counter and a checksum to ensure integrity and prevent
- replay of the same message.
-
-Hyundai/Kia (Lateral only)
-------
-
- - While the system is engaged, steer commands are subject to the same limits used by
- the stock system.
-
- - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
- commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
- torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
- driver's will.
-
-Chrysler/Jeep/Fiat (Lateral only)
-------
-
- - While the system is engaged, steer commands are subject to the same limits used by
- the stock system.
-
- - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
- commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
- units above the actual EPS generated motor torque to ensure limited differences between
- commanded and actual torques.
-
-Subaru (Lateral only)
-------
-
- - While the system is engaged, steer commands are subject to the same limits used by
- the stock system.
-
- - Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
- commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
- torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
- driver's will.
+For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
not fully meeting the above requirements.
diff --git a/SConstruct b/SConstruct
new file mode 100644
index 00000000000000..609cea334af813
--- /dev/null
+++ b/SConstruct
@@ -0,0 +1,305 @@
+import os
+import shutil
+import subprocess
+import sys
+import sysconfig
+import platform
+import numpy as np
+
+TICI = os.path.isfile('/TICI')
+Decider('MD5-timestamp')
+
+AddOption('--test',
+ action='store_true',
+ help='build test files')
+
+AddOption('--asan',
+ action='store_true',
+ help='turn on ASAN')
+
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+is_tbp = os.path.isfile('/data/tinkla_buddy_pro')
+if arch == "aarch64" and is_tbp:
+ arch = "jarch64"
+if platform.system() == "Darwin":
+ arch = "Darwin"
+
+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
+
+if arch == "aarch64" or arch == "larch64":
+ lenv = {
+ "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
+ "PATH": os.environ['PATH'],
+ }
+
+ if arch == "aarch64":
+ # android
+ lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+ lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
+ cpppath = [
+ "#phonelibs/opencl/include",
+ "#phonelibs/snpe/include",
+ ]
+
+ libpath = [
+ "/usr/lib",
+ "/system/vendor/lib64",
+ "/system/comma/usr/lib",
+ "#phonelibs/nanovg",
+ ]
+
+ if arch == "larch64":
+ cpppath += ["#phonelibs/capnp-cpp/include", "#phonelibs/capnp-c/include"]
+ libpath += [
+ "#phonelibs/snpe/larch64",
+ "#phonelibs/libyuv/larch64/lib",
+ "/usr/lib/aarch64-linux-gnu"
+ ]
+ cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+ cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+ rpath = ["/usr/local/lib"]
+ else:
+ libpath += [
+ "#phonelibs/snpe/aarch64",
+ "#phonelibs/libyuv/lib",
+ "/system/vendor/lib64"
+ ]
+ cflags = ["-DQCOM", "-mcpu=cortex-a57"]
+ cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+ rpath = []
+
+ if QCOM_REPLAY:
+ cflags += ["-DQCOM_REPLAY"]
+ cxxflags += ["-DQCOM_REPLAY"]
+
+else:
+ cflags = []
+ cxxflags = []
+
+ lenv = {
+ "PATH": "#external/bin:" + os.environ['PATH'],
+ }
+ cpppath = [
+ "#external/tensorflow/include",
+ "#phonelibs/snpe/include",
+ ]
+
+ if arch == "Darwin":
+ libpath = [
+ "#phonelibs/libyuv/mac/lib",
+ "#cereal",
+ "#selfdrive/common",
+ "/usr/local/lib",
+ "/System/Library/Frameworks/OpenGL.framework/Libraries",
+ ]
+ cflags += ["-DGL_SILENCE_DEPRECATION"]
+ cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+ else:
+ libpath = [
+ "#phonelibs/snpe/x86_64-linux-clang",
+ "#phonelibs/libyuv/x64/lib",
+ "#external/tensorflow/lib",
+ "#cereal",
+ "#selfdrive/common",
+ "/usr/lib",
+ "/usr/local/lib",
+ ]
+
+ rpath = [
+ "phonelibs/snpe/x86_64-linux-clang",
+ "external/tensorflow/lib",
+ "cereal",
+ "selfdrive/common"
+ ]
+
+ # allows shared libraries to work globally
+ rpath = [os.path.join(os.getcwd(), x) for x in rpath]
+
+if GetOption('asan'):
+ ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+ ldflags_asan = ["-fsanitize=address"]
+else:
+ ccflags_asan = []
+ ldflags_asan = []
+
+# change pythonpath to this
+lenv["PYTHONPATH"] = Dir("#").path
+
+env = Environment(
+ ENV=lenv,
+ CCFLAGS=[
+ "-g",
+ "-fPIC",
+ "-O2",
+ "-Wunused",
+ "-Werror",
+ "-Wno-unknown-warning-option",
+ "-Wno-deprecated-register",
+ "-Wno-register",
+ "-Wno-inconsistent-missing-override",
+ "-Wno-c99-designator",
+ "-Wno-reorder-init-list",
+ ] + cflags + ccflags_asan,
+
+ CPPPATH=cpppath + [
+ "#",
+ "#selfdrive",
+ "#phonelibs/bzip2",
+ "#phonelibs/libyuv/include",
+ "#phonelibs/openmax/include",
+ "#phonelibs/json11",
+ "#phonelibs/curl/include",
+ "#phonelibs/libgralloc/include",
+ "#phonelibs/android_frameworks_native/include",
+ "#phonelibs/android_hardware_libhardware/include",
+ "#phonelibs/android_system_core/include",
+ "#phonelibs/linux/include",
+ "#phonelibs/snpe/include",
+ "#phonelibs/nanovg",
+ "#selfdrive/boardd",
+ "#selfdrive/common",
+ "#selfdrive/camerad",
+ "#selfdrive/camerad/include",
+ "#selfdrive/loggerd/include",
+ "#selfdrive/modeld",
+ "#selfdrive/sensord",
+ "#selfdrive/ui",
+ "#cereal/messaging",
+ "#cereal",
+ "#opendbc/can",
+ ],
+
+ CC='clang',
+ CXX='clang++',
+ LINKFLAGS=ldflags_asan,
+
+ RPATH=rpath,
+
+ CFLAGS=["-std=gnu11"] + cflags,
+ CXXFLAGS=["-std=c++1z"] + cxxflags,
+ LIBPATH=libpath + [
+ "#cereal",
+ "#phonelibs",
+ "#opendbc/can",
+ "#selfdrive/boardd",
+ "#selfdrive/common",
+ ],
+ CYTHONCFILESUFFIX=".cpp",
+ COMPILATIONDB_USE_ABSPATH=True,
+ tools=["default", "cython", "compilation_db"],
+)
+
+if GetOption('test'):
+ env.CompilationDatabase('compile_commands.json')
+
+if os.environ.get('SCONS_CACHE'):
+ cache_dir = '/tmp/scons_cache'
+ if TICI:
+ cache_dir = '/data/scons_cache'
+
+ if QCOM_REPLAY:
+ cache_dir = '/tmp/scons_cache_qcom_replay'
+
+ CacheDir(cache_dir)
+
+node_interval = 5
+node_count = 0
+def progress_function(node):
+ global node_count
+ node_count += node_interval
+ sys.stderr.write("progress: %d\n" % node_count)
+
+if os.environ.get('SCONS_PROGRESS'):
+ Progress(progress_function, interval=node_interval)
+
+SHARED = False
+
+def abspath(x):
+ if arch == 'aarch64':
+ pth = os.path.join("/data/pythonpath", x[0].path)
+ env.Depends(pth, x)
+ return File(pth)
+ else:
+ # rpath works elsewhere
+ return x[0].path.rsplit("/", 1)[1][:-3]
+
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+ envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+ envCython["LINKFLAGS"] = ["-shared"]
+ envCython["LIBS"] = [os.path.basename(py_include)]
+else:
+ envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+# still needed for apks
+zmq = 'zmq'
+Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+
+# cereal and messaging are shared with the system
+SConscript(['cereal/SConscript'])
+if SHARED:
+ cereal = abspath([File('cereal/libcereal_shared.so')])
+ messaging = abspath([File('cereal/libmessaging_shared.so')])
+else:
+ cereal = [File('#cereal/libcereal.a')]
+ messaging = [File('#cereal/libmessaging.a')]
+Export('cereal', 'messaging')
+
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+
+if SHARED:
+ common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
+else:
+ common = [_common, 'json11']
+ visionipc = _visionipc
+ gpucommon = [_gpucommon] + _gpu_libs
+
+Export('common', 'visionipc', 'gpucommon')
+
+SConscript(['opendbc/can/SConscript'])
+
+SConscript(['common/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['common/transformations/SConscript'])
+SConscript(['phonelibs/SConscript'])
+
+SConscript(['selfdrive/camerad/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+
+SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
+
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])
+
+SConscript(['selfdrive/loggerd/SConscript'])
+
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/models/SConscript'])
+SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+
+if arch != "Darwin":
+ SConscript(['selfdrive/logcatd/SConscript'])
+
+if arch == "x86_64":
+ SConscript(['tools/lib/index_log/SConscript'])
+
diff --git a/apk/ai.comma.plus.black.apk b/apk/ai.comma.plus.black.apk
deleted file mode 100644
index 94b3a6a1915a8c..00000000000000
Binary files a/apk/ai.comma.plus.black.apk and /dev/null differ
diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk
deleted file mode 100644
index 374862a792d77a..00000000000000
Binary files a/apk/ai.comma.plus.frame.apk and /dev/null differ
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 5dd8b8f204fa3e..90570253edabdb 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/cereal/.gitignore b/cereal/.gitignore
index 3f6de09fb90f69..40b416ea603930 100644
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -1,6 +1,15 @@
gen
node_modules
package-lock.json
+*.tmp
*.pyc
__pycache__
-
+.*.swp
+.*.swo
+libcereal*.a
+libmessaging.*
+libmessaging_shared.*
+services.h
+.sconsign.dblite
+libcereal_shared.*
+.mypy_cache/
diff --git a/cereal/Makefile b/cereal/Makefile
deleted file mode 100644
index 9a206a7c106322..00000000000000
--- a/cereal/Makefile
+++ /dev/null
@@ -1,62 +0,0 @@
-PWD := $(shell pwd)
-
-SRCS := log.capnp car.capnp ui.capnp tinkla.capnp tesla.capnp
-
-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ gen/cpp/ui.capnp.c++ gen/cpp/tinkla.capnp.c++ gen/cpp/tesla.capnp.c++
-JS := gen/js/car.capnp.js gen/js/log.capnp.js gen/js/ui.capnp.js gen/js/tinkla.capnp.js gen/js/tesla.capnp.js
-
-UNAME_M ?= $(shell uname -m)
-
-GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/ui.capnp.c gen/c/tinkla.capnp.c gen/c/tesla.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
-
-ifeq ($(UNAME_M),x86_64)
-
-ifneq (, $(shell which capnpc-java))
-GENS += gen/java/Car.java gen/java/Log.java gen/java/Tesla.java gen/java/Ui.java
-else
-$(warning capnpc-java not found, skipping java build)
-endif
-
-endif
-
-
-ifeq ($(UNAME_M),aarch64)
-CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
-else
-CAPNPC=capnpc
-endif
-
-.PHONY: all
-all: $(GENS)
-js: $(JS)
-
-.PHONY: clean
-clean:
- rm -rf gen
- rm -rf node_modules
- rm -rf package-lock.json
-
-gen/c/%.capnp.c: %.capnp
- @echo "[ CAPNPC C ] $@"
- mkdir -p gen/c/
- $(CAPNPC) '$<' -o c:gen/c/
-
-gen/js/%.capnp.js: %.capnp
- @echo "[ CAPNPC JavaScript ] $@"
- mkdir -p gen/js/
- sh ./generate_javascript.sh
-
-gen/cpp/%.capnp.c++: %.capnp
- @echo "[ CAPNPC C++ ] $@"
- mkdir -p gen/cpp/
- $(CAPNPC) '$<' -o c++:gen/cpp/
-
-gen/java/Car.java gen/java/Log.java: $(SRCS)
- @echo "[ CAPNPC java ] $@"
- mkdir -p gen/java/
- $(CAPNPC) $^ -o java:gen/java
-
-# c-capnproto needs some empty headers
-gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
- mkdir -p gen/c/include
- touch '$@'
diff --git a/cereal/SConscript b/cereal/SConscript
new file mode 100644
index 00000000000000..5c9221445f9cf3
--- /dev/null
+++ b/cereal/SConscript
@@ -0,0 +1,69 @@
+Import('env', 'envCython', 'arch', 'zmq')
+
+import shutil
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+messaging_dir = Dir('messaging')
+
+# TODO: remove src-prefix and cereal from command string. can we set working directory?
+env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
+env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h',
+'gen/cpp/tesla.capnp.c++', 'gen/cpp/tesla.capnp.h', 'gen/cpp/tinkla.capnp.c++', 'gen/cpp/tinkla.capnp.h', 'gen/cpp/ui.capnp.c++', 'gen/cpp/ui.capnp.h'],
+ ['car.capnp', 'log.capnp',
+'tesla.capnp', 'tinkla.capnp', 'ui.capnp'],
+ f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+if shutil.which('capnpc-java'):
+ env.Command(['gen/java/Car.java', 'gen/java/Log.java',
+'gen/java/Tesla.java', 'gen/java/Tinkla.java', 'gen/java/Ui.java'],
+ ['car.capnp', 'log.capnp',
+'tesla.capnp', 'tinkla.capnp', 'ui.capnp'],
+ f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
+
+# TODO: remove non shared cereal and messaging
+cereal_objects = env.SharedObject([
+ 'gen/cpp/car.capnp.c++',
+ 'gen/cpp/log.capnp.c++',
+ 'gen/cpp/tesla.capnp.c++',
+ 'messaging/socketmaster.cc',
+ 'gen/cpp/ui.capnp.c++',
+ 'gen/cpp/tinkla.capnp.c++',
+])
+
+env.Library('cereal', cereal_objects)
+env.SharedLibrary('cereal_shared', cereal_objects)
+
+cereal_dir = Dir('.')
+services_h = env.Command(['services.h'],
+ ['service_list.yaml', 'services.py'],
+ 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+
+messaging_objects = env.SharedObject([
+ 'messaging/messaging.cc',
+ 'messaging/impl_zmq.cc',
+ 'messaging/impl_msgq.cc',
+ 'messaging/msgq.cc',
+ 'messaging/socketmaster.cc',
+])
+
+messaging_lib = env.Library('messaging', messaging_objects)
+Depends('messaging/impl_zmq.cc', services_h)
+
+# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
+# TODO: get APK to load system zmq to remove the static link
+if arch == "aarch64":
+ zmq_static = FindFile("libzmq.a", "/usr/lib")
+ shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
+ env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
+Depends('messaging/bridge.cc', services_h)
+
+# different target?
+#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
+
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
+
+if GetOption('test'):
+ env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
diff --git a/cereal/__init__.py b/cereal/__init__.py
index 45c5c65e72550c..a9074bf9eeae82 100644
--- a/cereal/__init__.py
+++ b/cereal/__init__.py
@@ -1,3 +1,4 @@
+# pylint: skip-file
import os
import capnp
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 6306abc759a218..a9f2e9034d258e 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -13,19 +13,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
name @0 :EventName;
enable @1 :Bool;
noEntry @2 :Bool;
- warning @3 :Bool;
+ warning @3 :Bool; # alerts presented only when enabled or soft disabling
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
preEnable @7 :Bool;
- permanent @8 :Bool;
+ permanent @8 :Bool; # alerts presented regardless of openpilot state
enum EventName @0xbaa8c5d505f727de {
# TODO: copy from error list
canError @0;
steerUnavailable @1;
brakeUnavailable @2;
- gasUnavailable @3;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
@@ -38,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
pedalPressed @13;
cruiseDisabled @14;
radarCanError @15;
- dataNeeded @16;
speedTooLow @17;
outOfSpace @18;
overheat @19;
@@ -49,29 +47,22 @@ struct CarEvent @0x9b1657f34caf3ad3 {
pcmDisable @24;
noTarget @25;
radarFault @26;
- modelCommIssueDEPRECATED @27;
brakeHold @28;
parkBrake @29;
manualRestart @30;
lowSpeedLockout @31;
plannerError @32;
- ipasOverride @33;
debugAlert @34;
steerTempUnavailableMute @35;
resumeRequired @36;
preDriverDistracted @37;
promptDriverDistracted @38;
driverDistracted @39;
- geofence @40;
- driverMonitorOn @41;
- driverMonitorOff @42;
preDriverUnresponsive @43;
promptDriverUnresponsive @44;
driverUnresponsive @45;
belowSteerSpeed @46;
- calibrationProgress @47;
lowBattery @48;
- invalidGiraffeHonda @49;
vehicleModelInvalid @50;
controlsFailed @51;
sensorDataInvalid @52;
@@ -79,6 +70,54 @@ struct CarEvent @0x9b1657f34caf3ad3 {
tooDistracted @54;
posenetInvalid @55;
soundsUnavailable @56;
+ preLaneChangeLeft @57;
+ preLaneChangeRight @58;
+ laneChange @59;
+ internetConnectivityNeeded @61;
+ communityFeatureDisallowed @62;
+ lowMemory @63;
+ stockAeb @64;
+ ldw @65;
+ carUnrecognized @66;
+ radarCommIssue @67;
+ driverMonitorLowAcc @68;
+ invalidLkasSetting @69;
+ speedTooHigh @70;
+ laneChangeBlocked @71;
+ relayMalfunction @72;
+ gasPressed @73;
+ stockFcw @74;
+ startup @75;
+ startupNoCar @76;
+ startupNoControl @77;
+ startupMaster @78;
+ fcw @79;
+ steerSaturated @80;
+ belowEngageSpeed @84;
+ noGps @85;
+ wrongCruiseMode @87;
+ modeldLagging @89;
+ deviceFalling @90;
+ fanMalfunction @91;
+ cameraMalfunction @92;
+
+ startupOneplus @82;
+
+ gasUnavailableDEPRECATED @3;
+ dataNeededDEPRECATED @16;
+ modelCommIssueDEPRECATED @27;
+ ipasOverrideDEPRECATED @33;
+ geofenceDEPRECATED @40;
+ driverMonitorOnDEPRECATED @41;
+ driverMonitorOffDEPRECATED @42;
+ calibrationProgressDEPRECATED @47;
+ invalidGiraffeHondaDEPRECATED @49;
+ invalidGiraffeToyotaDEPRECATED @60;
+ whitePandaUnsupportedDEPRECATED @81;
+ commIssueWarningDEPRECATED @83;
+ focusRecoverActiveDEPRECATED @86;
+ neosUpdateRequiredDEPRECATED @88;
+ modelLagWarningDEPRECATED @93;
}
}
@@ -107,11 +146,17 @@ struct CarState {
brakeLights @19 :Bool;
# steering wheel
- steeringAngle @7 :Float32; # deg
- steeringRate @15 :Float32; # deg/s
- steeringTorque @8 :Float32; # TODO: standardize units
+ steeringAngle @7 :Float32; # deg
+ steeringRate @15 :Float32; # deg/s
+ steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units
- steeringPressed @9 :Bool; # if the user is using the steering wheel
+ steeringPressed @9 :Bool; # if the user is using the steering wheel
+ steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
+ steerWarning @35 :Bool; # temporary steer unavailble
+ steerError @36 :Bool; # permanent steer error
+ stockAeb @30 :Bool;
+ stockFcw @31 :Bool;
+ espDisabled @32 :Bool;
# cruise state
cruiseState @10 :CruiseState;
@@ -130,9 +175,16 @@ struct CarState {
seatbeltUnlatched @25 :Bool;
canValid @26 :Bool;
+ # clutch (manual transmission only)
+ clutchPressed @28 :Bool;
+
# which packets this state came from
canMonoTimes @12: List(UInt64);
+ # blindspot sensors
+ leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+ rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
struct WheelSpeeds {
# optional wheel speeds
fl @0 :Float32;
@@ -147,6 +199,7 @@ struct CarState {
available @2 :Bool;
speedOffset @3 :Float32;
standstill @4 :Bool;
+ nonAdaptive @5 :Bool;
}
enum GearShifter {
@@ -158,9 +211,10 @@ struct CarState {
sport @5;
low @6;
brake @7;
+ eco @8;
+ manumatic @9;
}
-
# send on change
struct ButtonEvent {
pressed @0 :Bool;
@@ -176,6 +230,9 @@ struct CarState {
altButton1 @6;
altButton2 @7;
altButton3 @8;
+ setCruise @9;
+ resumeCruise @10;
+ gapAdjustCruise @11;
}
}
}
@@ -268,6 +325,7 @@ struct CarControl {
wrongGear @4;
seatbeltUnbuckled @5;
speedTooHigh @6;
+ ldw @7;
}
enum AudibleAlert {
@@ -281,6 +339,7 @@ struct CarControl {
chimeWarning2 @5;
chimeWarningRepeat @6;
chimePrompt @7;
+ chimeWarning2Repeat @8;
}
}
}
@@ -300,6 +359,7 @@ struct CarParams {
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
safetyModel @9 :SafetyModel;
+ safetyModelPassive @42 :SafetyModel = silent;
safetyParam @10 :Int16;
steerMaxBP @11 :List(Float32);
@@ -309,7 +369,6 @@ struct CarParams {
brakeMaxBP @15 :List(Float32);
brakeMaxV @16 :List(Float32);
-
# things about the car in the manual
mass @17 :Float32; # [kg] running weight
wheelbase @18 :Float32; # [m] distance from rear to front axle
@@ -323,6 +382,7 @@ struct CarParams {
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
+ lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indi @27 :LateralINDITuning;
@@ -330,6 +390,7 @@ struct CarParams {
}
steerLimitAlert @28 :Bool;
+ steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
@@ -338,11 +399,26 @@ struct CarParams {
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
steerControlType @34 :SteerControlType;
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+ minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+ stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
+ startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
isPandaBlack @39: Bool;
+ dashcamOnly @41: Bool;
+ transmissionType @43 :TransmissionType;
+ carFw @44 :List(CarFw);
+ radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
+ communityFeature @46: Bool; # true if a community maintained feature is detected
+ fingerprintSource @49: FingerprintSource;
+ networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
+
+ struct LateralParams {
+ torqueBP @0 :List(Int32);
+ torqueV @1 :List(Int32);
+ }
struct LateralPIDTuning {
kpBP @0 :List(Float32);
@@ -361,7 +437,6 @@ struct CarParams {
deadzoneV @5 :List(Float32);
}
-
struct LateralINDITuning {
outerLoopGain @0 :Float32;
innerLoopGain @1 :Float32;
@@ -383,25 +458,85 @@ struct CarParams {
l @7 :List(Float32); # Kalman gain
}
-
enum SafetyModel {
- # does NOT match board setting
- noOutput @0;
- honda @1;
+ silent @0;
+ hondaNidec @1;
toyota @2;
elm327 @3;
gm @4;
- hondaBosch @5;
+ hondaBoschGiraffe @5;
ford @6;
cadillac @7;
hyundai @8;
chrysler @9;
tesla @10;
subaru @11;
+ gmPassive @12;
+ mazda @13;
+ nissan @14;
+ volkswagen @15;
+ toyotaIpas @16;
+ allOutput @17;
+ gmAscm @18;
+ noOutput @19; # like silent but without silent CAN TXs
+ hondaBoschHarness @20;
+ volkswagenPq @21;
+ subaruLegacy @22; # pre-Global platform
+ hyundaiLegacy @23;
+ hyundaiCommunity @24;
}
enum SteerControlType {
torque @0;
angle @1;
}
-}
\ No newline at end of file
+
+ enum TransmissionType {
+ unknown @0;
+ automatic @1; # Traditional auto, including DSG
+ manual @2; # True "stick shift" only
+ direct @3; # Electric vehicle or other direct drive
+ }
+
+ struct CarFw {
+ ecu @0 :Ecu;
+ fwVersion @1 :Data;
+ address @2: UInt32;
+ subAddress @3: UInt8;
+ }
+
+ enum Ecu {
+ eps @0;
+ esp @1;
+ fwdRadar @2;
+ fwdCamera @3;
+ engine @4;
+ unknown @5;
+ transmission @8; # Transmission Control Module
+ srs @9; # airbag
+ gateway @10; # can gateway
+ hud @11; # heads up display
+ combinationMeter @12; # instrument cluster
+
+ # Toyota only
+ dsu @6;
+ apgs @7;
+
+ # Honda only
+ vsa @13; # Vehicle Stability Assist
+ programmedFuelInjection @14;
+ electricBrakeBooster @15;
+ shiftByWire @16;
+ }
+
+ enum FingerprintSource {
+ can @0;
+ fw @1;
+ fixed @2;
+ }
+
+ enum NetworkLocation {
+ fwdCamera @0; # Standard/default integration at LKAS camera
+ gateway @1; # Integration at vehicle's CAN gateway
+ }
+}
diff --git a/cereal/generate_javascript.sh b/cereal/generate_javascript.sh
deleted file mode 100755
index d6525a64d95eed..00000000000000
--- a/cereal/generate_javascript.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/bin/bash
-
-rm -r gen/ts
-rm -r gen/js
-
-mkdir gen/ts
-mkdir gen/js
-
-echo "Installing needed npm modules"
-npm i capnpc-ts capnp-ts
-
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
-
-cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
-do
- TOKEN=`echo $line | sed 's/\./_/g'`
- ROOT=`echo $line | sed 's/\..*$//g'`
- cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
- if [[ "$?" == "1" ]]
- then
- sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
- fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
diff --git a/cereal/install_capnp.sh b/cereal/install_capnp.sh
deleted file mode 100755
index b83e1ffda1d221..00000000000000
--- a/cereal/install_capnp.sh
+++ /dev/null
@@ -1,39 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j4
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j4
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 053c452113a838..11f49fa12f1ede 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -49,6 +49,8 @@ struct InitData {
neo @1;
chffrAndroid @2;
chffrIos @3;
+ tici @4;
+ pc @5;
}
struct AndroidBuildInfo {
@@ -126,6 +128,11 @@ struct FrameData {
lensErr @13 :Float32;
lensTruePos @14 :Float32;
image @6 :Data;
+ gainFrac @15 :Float32;
+ focusVal @16 :List(Int16);
+ focusConf @17 :List(UInt8);
+ sharpnessScore @18 :List(UInt16);
+ recoverState @19 :Int32;
frameType @7 :FrameType;
timestampSof @8 :UInt64;
@@ -137,6 +144,7 @@ struct FrameData {
unknown @0;
neo @1;
chffrAndroid @2;
+ front @3;
}
struct AndroidCaptureResult {
@@ -180,6 +188,7 @@ struct SensorEventData {
gyroUncalibrated @12 :SensorVec;
proximity @13: Float32;
light @14: Float32;
+ temperature @15: Float32;
}
source @8 :SensorSource;
@@ -197,6 +206,8 @@ struct SensorEventData {
lsm6ds3 @5; # accelerometer (c2)
bmp280 @6; # barometer (c2)
mmc3416x @7; # magnetometer (c2)
+ bmx055 @8;
+ rpr0521 @9;
}
}
@@ -261,13 +272,15 @@ struct CanData {
}
struct ThermalData {
- cpu0 @0 :UInt16;
- cpu1 @1 :UInt16;
- cpu2 @2 :UInt16;
- cpu3 @3 :UInt16;
- mem @4 :UInt16;
- gpu @5 :UInt16;
- bat @6 :UInt32;
+ # Deprecated
+ cpu0DEPRECATED @0 :UInt16;
+ cpu1DEPRECATED @1 :UInt16;
+ cpu2DEPRECATED @2 :UInt16;
+ cpu3DEPRECATED @3 :UInt16;
+ memDEPRECATED @4 :UInt16;
+ gpuDEPRECATED @5 :UInt16;
+ batDEPRECATED @6 :UInt32;
+ pa0DEPRECATED @21 :UInt16;
# not thermal
freeSpace @7 :Float32;
@@ -276,6 +289,10 @@ struct ThermalData {
batteryCurrent @15 :Int32;
batteryVoltage @16 :Int32;
usbOnline @12 :Bool;
+ networkType @22 :NetworkType;
+ offroadPowerUsage @23 :UInt32; # Power usage since going offroad in uWh
+ networkStrength @24 :NetworkStrength;
+ carBatteryCapacity @25 :UInt32; # Estimated remaining car battery capacity in uWh
fanSpeed @10 :UInt16;
started @11 :Bool;
@@ -285,27 +302,94 @@ struct ThermalData {
chargingError @17 :Bool;
chargingDisabled @18 :Bool;
+ memUsedPercent @19 :Int8;
+ cpuPerc @20 :Int8;
+
+ cpu @26 :List(Float32);
+ gpu @27 :List(Float32);
+ mem @28 :Float32;
+ bat @29 :Float32;
+ ambient @30 :Float32;
+
enum ThermalStatus {
green @0; # all processes run
yellow @1; # critical processes run (kill uploader), engage still allowed
red @2; # no engage, will disengage
danger @3; # immediate process shutdown
}
+
+ enum NetworkType {
+ none @0;
+ wifi @1;
+ cell2G @2;
+ cell3G @3;
+ cell4G @4;
+ cell5G @5;
+ }
+
+ enum NetworkStrength {
+ unknown @0;
+ poor @1;
+ moderate @2;
+ good @3;
+ great @4;
+ }
}
struct HealthData {
# from can health
voltage @0 :UInt32;
current @1 :UInt32;
- started @2 :Bool;
+ ignitionLine @2 :Bool;
controlsAllowed @3 :Bool;
gasInterceptorDetected @4 :Bool;
startedSignalDetectedDeprecated @5 :Bool;
hasGps @6 :Bool;
canSendErrs @7 :UInt32;
canFwdErrs @8 :UInt32;
+ canRxErrs @19 :UInt32;
gmlanSendErrs @9 :UInt32;
- hwType @10: HwType;
+ hwType @10 :HwType;
+ fanSpeedRpm @11 :UInt16;
+ usbPowerMode @12 :UsbPowerMode;
+ ignitionCan @13 :Bool;
+ safetyModel @14 :Car.CarParams.SafetyModel;
+ faultStatus @15 :FaultStatus;
+ powerSaveEnabled @16 :Bool;
+ uptime @17 :UInt32;
+ faults @18 :List(FaultType);
+
+ enum FaultStatus {
+ none @0;
+ faultTemp @1;
+ faultPerm @2;
+ }
+
+ enum FaultType {
+ relayMalfunction @0;
+ unusedInterruptHandled @1;
+ interruptRateCan1 @2;
+ interruptRateCan2 @3;
+ interruptRateCan3 @4;
+ interruptRateTach @5;
+ interruptRateGmlan @6;
+ interruptRateInterrupts @7;
+ interruptRateSpiDma @8;
+ interruptRateSpiCs @9;
+ interruptRateUart1 @10;
+ interruptRateUart2 @11;
+ interruptRateUart3 @12;
+ interruptRateUart5 @13;
+ interruptRateUartDma @14;
+ interruptRateUsb @15;
+ interruptRateTim1 @16;
+ interruptRateTim3 @17;
+ registerDivergent @18;
+ interruptRateKlineInit @19;
+ interruptRateClockSource @20;
+ interruptRateTim9 @21;
+ # Update max fault type in boardd when adding faults
+ }
enum HwType {
unknown @0;
@@ -313,6 +397,15 @@ struct HealthData {
greyPanda @2;
blackPanda @3;
pedal @4;
+ uno @5;
+ dos @6;
+ }
+
+ enum UsbPowerMode {
+ none @0;
+ client @1;
+ cdp @2;
+ dcp @3;
}
}
@@ -363,18 +456,22 @@ struct RadarState @0x9a185389d6fdd05f {
struct LiveCalibrationData {
# deprecated
warpMatrix @0 :List(Float32);
+
# camera_frame_from_model_frame
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
+
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
+ validBlocks @9 :Int32;
# view_frame_from_road_frame
# ui's is inversed needs new
extrinsicMatrix @4 :List(Float32);
# the direction of travel vector in device frame
rpyCalib @7 :List(Float32);
+ rpyCalibSpread @8 :List(Float32);
}
struct LiveTracks {
@@ -442,7 +539,7 @@ struct ControlsState @0x97ff69c53601abf1 {
alertSoundDEPRECATED @45 :Text;
alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
awarenessStatus @26 :Float32;
- angleModelBias @27 :Float32;
+ angleModelBiasDEPRECATED @27 :Float32;
gpsPlannerActive @40 :Bool;
engageable @41 :Bool; # can OP be engaged?
driverMonitoringOn @43 :Bool;
@@ -452,6 +549,7 @@ struct ControlsState @0x97ff69c53601abf1 {
decelForTurn @47 :Bool;
decelForModel @54 :Bool;
+ canErrorCounter @57 :UInt32;
lateralControlState :union {
indiState @52 :LateralINDIState;
@@ -475,7 +573,7 @@ struct ControlsState @0x97ff69c53601abf1 {
enum AlertStatus {
normal @0; # low priority alert for user's convenience
- userPrompt @1; # mid piority alert that might require user intervention
+ userPrompt @1; # mid priority alert that might require user intervention
critical @2; # high priority alert that needs immediate user intervention
}
@@ -497,6 +595,7 @@ struct ControlsState @0x97ff69c53601abf1 {
delayedOutput @7 :Float32;
delta @8 :Float32;
output @9 :Float32;
+ saturated @10 :Bool;
}
struct LateralPIDState {
@@ -516,8 +615,9 @@ struct ControlsState @0x97ff69c53601abf1 {
steerAngle @1 :Float32;
i @2 :Float32;
output @3 :Float32;
- }
-
+ lqrOutput @4 :Float32;
+ saturated @5 :Bool;
+ }
}
struct LiveEventData {
@@ -527,6 +627,12 @@ struct LiveEventData {
struct ModelData {
frameId @0 :UInt32;
+ frameAge @12 :UInt32;
+ frameDropPerc @13 :Float32;
+ timestampEof @9 :UInt64;
+ modelExecutionTime @14 :Float32;
+ gpuExecutionTime @16 :Float32;
+ rawPred @15 :Data;
path @1 :PathData;
leftLane @2 :PathData;
@@ -537,6 +643,8 @@ struct ModelData {
settings @5 :ModelSettings;
leadFuture @7 :LeadData;
speed @8 :List(Float32);
+ meta @10 :MetaData;
+ longitudinal @11 :LongitudinalData;
struct PathData {
points @0 :List(Float32);
@@ -544,6 +652,7 @@ struct ModelData {
std @2 :Float32;
stds @3 :List(Float32);
poly @4 :List(Float32);
+ validLen @5 :Float32;
}
struct LeadData {
@@ -567,8 +676,74 @@ struct ModelData {
yuvCorrection @5 :List(Float32);
inputTransform @6 :List(Float32);
}
+
+ struct MetaData {
+ engagedProb @0 :Float32;
+ desirePrediction @1 :List(Float32);
+ brakeDisengageProb @2 :Float32;
+ gasDisengageProb @3 :Float32;
+ steerOverrideProb @4 :Float32;
+ desireState @5 :List(Float32);
+ }
+
+ struct LongitudinalData {
+ distances @2 :List(Float32);
+ speeds @0 :List(Float32);
+ accelerations @1 :List(Float32);
+ }
+}
+
+
+struct ModelDataV2 {
+ frameId @0 :UInt32;
+ frameAge @1 :UInt32;
+ frameDropPerc @2 :Float32;
+ timestampEof @3 :UInt64;
+ modelExecutionTime @15 :Float32;
+ gpuExecutionTime @17 :Float32;
+ rawPred @16 :Data;
+
+ position @4 :XYZTData;
+ orientation @5 :XYZTData;
+ velocity @6 :XYZTData;
+ orientationRate @7 :XYZTData;
+ laneLines @8 :List(XYZTData);
+ laneLineProbs @9 :List(Float32);
+ laneLineStds @13 :List(Float32);
+ roadEdges @10 :List(XYZTData);
+ roadEdgeStds @14 :List(Float32);
+ leads @11 :List(LeadDataV2);
+
+ meta @12 :MetaData;
+
+ struct XYZTData {
+ x @0 :List(Float32);
+ y @1 :List(Float32);
+ z @2 :List(Float32);
+ t @3 :List(Float32);
+ xStd @4 :List(Float32);
+ yStd @5 :List(Float32);
+ zStd @6 :List(Float32);
+ }
+
+ struct LeadDataV2 {
+ prob @0 :Float32;
+ t @1 :Float32;
+ xyva @2 :List(Float32);
+ xyvaStd @3 :List(Float32);
+ }
+
+ struct MetaData {
+ engagedProb @0 :Float32;
+ desirePrediction @1 :List(Float32);
+ brakeDisengageProb @2 :Float32;
+ gasDisengageProb @3 :Float32;
+ steerOverrideProb @4 :Float32;
+ desireState @5 :List(Float32);
+ }
}
+
struct CalibrationFeatures {
frameId @0 :UInt32;
@@ -589,6 +764,8 @@ struct EncodeIndex {
segmentId @4 :UInt32;
# index into camera file in segment in encode order
segmentIdEncode @5 :UInt32;
+ timestampSof @6 :UInt64;
+ timestampEof @7 :UInt64;
enum Type {
bigBoxLossless @0; # rcamera.mkv
@@ -697,6 +874,84 @@ struct PathPlan {
sensorValid @14 :Bool;
commIssue @15 :Bool;
posenetValid @16 :Bool;
+ desire @17 :Desire;
+ laneChangeState @18 :LaneChangeState;
+ laneChangeDirection @19 :LaneChangeDirection;
+
+ enum Desire {
+ none @0;
+ turnLeft @1;
+ turnRight @2;
+ laneChangeLeft @3;
+ laneChangeRight @4;
+ keepLeft @5;
+ keepRight @6;
+ }
+
+ enum LaneChangeState {
+ off @0;
+ preLaneChange @1;
+ laneChangeStarting @2;
+ laneChangeFinishing @3;
+ }
+
+ enum LaneChangeDirection {
+ none @0;
+ left @1;
+ right @2;
+ }
+}
+
+struct LiveLocationKalman {
+
+ # More info on reference frames:
+ # https://github.com/commaai/openpilot/tree/master/common/transformations
+
+ positionECEF @0 : Measurement;
+ positionGeodetic @1 : Measurement;
+ velocityECEF @2 : Measurement;
+ velocityNED @3 : Measurement;
+ velocityDevice @4 : Measurement;
+ accelerationDevice @5: Measurement;
+
+
+ # These angles are all eulers and roll, pitch, yaw
+ # orientationECEF transforms to rot matrix: ecef_from_device
+ orientationECEF @6 : Measurement;
+ calibratedOrientationECEF @20 : Measurement;
+ orientationNED @7 : Measurement;
+ angularVelocityDevice @8 : Measurement;
+
+ # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+ orientationNEDCalibrated @9 : Measurement;
+
+ # Calibrated frame is simply device frame
+ # aligned with the vehicle
+ velocityCalibrated @10 : Measurement;
+ accelerationCalibrated @11 : Measurement;
+ angularVelocityCalibrated @12 : Measurement;
+
+ gpsWeek @13 :Int32;
+ gpsTimeOfWeek @14 :Float64;
+ status @15 :Status;
+ unixTimestampMillis @16 :Int64;
+ inputsOK @17 :Bool = true;
+ posenetOK @18 :Bool = true;
+ gpsOK @19 :Bool = true;
+ sensorsOK @21 :Bool = true;
+ deviceStable @22 :Bool = true;
+
+ enum Status {
+ uninitialized @0;
+ uncalibrated @1;
+ valid @2;
+ }
+
+ struct Measurement {
+ value @0 : List(Float64);
+ std @1 : List(Float64);
+ valid @2 : Bool;
+ }
}
struct LiveLocationData {
@@ -1342,6 +1597,7 @@ struct UbloxGnss {
measurementReport @0 :MeasurementReport;
ephemeris @1 :Ephemeris;
ionoData @2 :IonoData;
+ hwStatus @3 :HwStatus;
}
struct MeasurementReport {
@@ -1465,8 +1721,29 @@ struct UbloxGnss {
healthValid @5 :Bool;
ionoCoeffsValid @6 :Bool;
}
-}
+ struct HwStatus {
+ noisePerMS @0 :UInt16;
+ agcCnt @1 :UInt16;
+ aStatus @2 :AntennaSupervisorState;
+ aPower @3 :AntennaPowerStatus;
+ jamInd @4 :UInt8;
+
+ enum AntennaSupervisorState {
+ init @0;
+ dontknow @1;
+ ok @2;
+ short @3;
+ open @4;
+ }
+
+ enum AntennaPowerStatus {
+ off @0;
+ on @1;
+ dontknow @2;
+ }
+ }
+}
struct Clocks {
bootTimeNanos @0 :UInt64;
@@ -1603,11 +1880,14 @@ struct UiLayoutState {
activeApp @0 :App;
sidebarCollapsed @1 :Bool;
mapEnabled @2 :Bool;
+ mockEngaged @3 :Bool;
enum App {
home @0;
music @1;
nav @2;
+ settings @3;
+ none @4;
}
}
@@ -1673,8 +1953,12 @@ struct OrbKeyFrame {
descriptors @3 :Data;
}
-struct DriverMonitoring {
+struct DriverState {
frameId @0 :UInt32;
+ modelExecutionTime @14 :Float32;
+ dspExecutionTime @16 :Float32;
+ rawPred @15 :Data;
+
descriptorDEPRECATED @1 :List(Float32);
stdDEPRECATED @2 :Float32;
faceOrientation @3 :List(Float32);
@@ -1684,12 +1968,38 @@ struct DriverMonitoring {
rightEyeProb @7 :Float32;
leftBlinkProb @8 :Float32;
rightBlinkProb @9 :Float32;
+ irPwrDEPRECATED @10 :Float32;
+ faceOrientationStd @11 :List(Float32);
+ facePositionStd @12 :List(Float32);
+ sgProb @13 :Float32;
+}
+
+struct DMonitoringState {
+ # TODO: deprecate old fields in controlsState
+ events @0 :List(Car.CarEvent);
+ faceDetected @1 :Bool;
+ isDistracted @2 :Bool;
+ awarenessStatus @3 :Float32;
+ isRHD @4 :Bool;
+ posePitchOffset @6 :Float32;
+ posePitchValidCount @7 :UInt32;
+ poseYawOffset @8 :Float32;
+ poseYawValidCount @9 :UInt32;
+ stepChange @10 :Float32;
+ awarenessActive @11 :Float32;
+ awarenessPassive @12 :Float32;
+ isLowStd @13 :Bool;
+ hiStdCount @14 :UInt32;
+ isPreview @15 :Bool;
+
+ rhdCheckedDEPRECATED @5 :Bool;
}
struct Boot {
wallTimeNanos @0 :UInt64;
lastKmsg @1 :Data;
lastPmsg @2 :Data;
+ launchLog @3 :Text;
}
struct LiveParametersData {
@@ -1726,6 +2036,8 @@ struct LiveMapData {
}
struct CameraOdometry {
+ frameId @4 :UInt32;
+ timestampEof @5 :UInt64;
trans @0 :List(Float32); # m/s in device frame
rot @1 :List(Float32); # rad/s in device frame
transStd @2 :List(Float32); # std m/s in device frame
@@ -1739,6 +2051,16 @@ struct KalmanOdometry {
rotStd @3 :List(Float32); # std rad/s in device frame
}
+struct Sentinel {
+ enum SentinelType {
+ endOfSegment @0;
+ endOfRoute @1;
+ startOfSegment @2;
+ startOfRoute @3;
+ }
+ type @0 :SentinelType;
+}
+
struct Event {
# in nanoseconds?
logMonoTime @0 :UInt64;
@@ -1764,7 +2086,7 @@ struct Event {
sendcan @17 :List(CanData);
logMessage @18 :Text;
liveCalibration @19 :LiveCalibrationData;
- androidLogEntry @20 :AndroidLogEntry;
+ androidLog @20 :AndroidLogEntry;
gpsLocation @21 :GpsLocationData;
carState @22 :Car.CarState;
carControl @23 :Car.CarControl;
@@ -1795,7 +2117,7 @@ struct Event {
gpsLocationExternal @48 :GpsLocationData;
location @49 :LiveLocationData;
uiNavigationEvent @50 :UiNavigationEvent;
- liveLocationKalman @51 :LiveLocationData;
+ liveLocationKalmanDEPRECATED @51 :LiveLocationData;
testJoystick @52 :Joystick;
orbOdometry @53 :OrbOdometry;
orbFeatures @54 :OrbFeatures;
@@ -1803,7 +2125,7 @@ struct Event {
orbKeyFrame @56 :OrbKeyFrame;
uiLayoutState @57 :UiLayoutState;
orbFeaturesSummary @58 :OrbFeaturesSummary;
- driverMonitoring @59 :DriverMonitoring;
+ driverState @59 :DriverState;
boot @60 :Boot;
liveParameters @61 :LiveParametersData;
liveMapData @62 :LiveMapData;
@@ -1813,5 +2135,13 @@ struct Event {
thumbnail @66: Thumbnail;
carEvents @68: List(Car.CarEvent);
carParams @69: Car.CarParams;
+ frontFrame @70: FrameData; # driver facing camera
+ dMonitoringState @71: DMonitoringState;
+ liveLocationKalman @72 :LiveLocationKalman;
+ sentinel @73 :Sentinel;
+ wideFrame @74: FrameData;
+ modelV2 @75 :ModelDataV2;
+ frontEncodeIdx @76 :EncodeIndex; # driver facing camera
+ wideEncodeIdx @77 :EncodeIndex;
}
-}
\ No newline at end of file
+}
diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp
deleted file mode 100644
index 336901392aa306..00000000000000
--- a/cereal/maptile.capnp
+++ /dev/null
@@ -1,53 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
- x @0: Float64;
- y @1: Float64;
- z @2: Float64;
-}
-
-struct PolyLine {
- points @0: List(Point);
-}
-
-# Map features
-struct Lane {
- id @0 :Text;
-
- leftBoundary @1 :LaneBoundary;
- rightBoundary @2 :LaneBoundary;
-
- leftAdjacentId @3 :Text;
- rightAdjacentId @4 :Text;
-
- inboundIds @5 :List(Text);
- outboundIds @6 :List(Text);
-
- struct LaneBoundary {
- polyLine @0 :PolyLine;
- startHeading @1 :Float32; # WRT north
- }
-}
-
-# Map tiles
-struct TileSummary {
- version @0 :Text;
- updatedAt @1 :UInt64; # Millis since epoch
-
- level @2 :UInt8;
- x @3 :UInt16;
- y @4 :UInt16;
-}
-
-struct MapTile {
- summary @0 :TileSummary;
- lanes @1 :List(Lane);
-}
diff --git a/cereal/messaging/.gitignore b/cereal/messaging/.gitignore
new file mode 100644
index 00000000000000..dbbe8e22aee488
--- /dev/null
+++ b/cereal/messaging/.gitignore
@@ -0,0 +1,10 @@
+demo
+bridge
+test_runner
+*.o
+*.os
+*.d
+*.a
+*.so
+messaging_pyx.cpp
+build/
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
new file mode 100644
index 00000000000000..0b1204b47a550a
--- /dev/null
+++ b/cereal/messaging/__init__.py
@@ -0,0 +1,225 @@
+# must be build with scons
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
+from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
+import capnp
+
+from typing import Optional, List, Union
+
+from cereal import log
+from cereal.services import service_list
+
+assert MultiplePublishersError
+assert MessagingError
+
+# sec_since_boot is faster, but allow to run standalone too
+try:
+ from common.realtime import sec_since_boot
+except ImportError:
+ import time
+ sec_since_boot = time.time
+ print("Warning, using python time.time() instead of faster sec_since_boot")
+
+context = Context()
+
+def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
+ dat = log.Event.new_message()
+ dat.logMonoTime = int(sec_since_boot() * 1e9)
+ dat.valid = True
+ if service is not None:
+ if size is None:
+ dat.init(service)
+ else:
+ dat.init(service, size)
+ return dat
+
+def pub_sock(endpoint: str) -> PubSocket:
+ sock = PubSocket()
+ sock.connect(context, endpoint)
+ return sock
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+ conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+ sock = SubSocket()
+ sock.connect(context, endpoint, addr.encode('utf8'), conflate)
+
+ if timeout is not None:
+ sock.setTimeout(timeout)
+
+ if poller is not None:
+ poller.registerSocket(sock)
+ return sock
+
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+ """Receive all message currently available on the queue"""
+ ret: List[bytes] = []
+ while 1:
+ if wait_for_one and len(ret) == 0:
+ dat = sock.receive()
+ else:
+ dat = sock.receive(non_blocking=True)
+
+ if dat is None:
+ break
+
+ ret.append(dat)
+
+ return ret
+
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+ """Receive all message currently available on the queue"""
+ ret: List[capnp.lib.capnp._DynamicStructReader] = []
+ while 1:
+ if wait_for_one and len(ret) == 0:
+ dat = sock.receive()
+ else:
+ dat = sock.receive(non_blocking=True)
+
+ if dat is None: # Timeout hit
+ break
+
+ dat = log.Event.from_bytes(dat)
+ ret.append(dat)
+
+ return ret
+
+
+# TODO: print when we drop packets?
+def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+ """Same as drain sock, but only returns latest message. Consider using conflate instead."""
+ dat = None
+
+ while 1:
+ if wait and dat is None:
+ rcv = sock.receive()
+ else:
+ rcv = sock.receive(non_blocking=True)
+
+ if rcv is None: # Timeout hit
+ break
+
+ dat = rcv
+
+ if dat is not None:
+ dat = log.Event.from_bytes(dat)
+
+ return dat
+
+def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+ dat = sock.receive()
+ if dat is not None:
+ dat = log.Event.from_bytes(dat)
+ return dat
+
+def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+ dat = sock.receive(non_blocking=True)
+ if dat is not None:
+ dat = log.Event.from_bytes(dat)
+ return dat
+
+def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
+ """Keep receiving until we get a message"""
+ while True:
+ dat = sock.receive()
+ if dat is not None:
+ return log.Event.from_bytes(dat)
+
+class SubMaster():
+ def __init__(self, services: List[str], poll: Optional[List[str]] = None,
+ ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
+ self.frame = -1
+ self.updated = {s: False for s in services}
+ self.rcv_time = {s: 0. for s in services}
+ self.rcv_frame = {s: 0 for s in services}
+ self.alive = {s: False for s in services}
+ self.sock = {}
+ self.freq = {}
+ self.data = {}
+ self.valid = {}
+ self.logMonoTime = {}
+
+ self.poller = Poller()
+ self.non_polled_services = [s for s in services if poll is not None and
+ len(poll) and s not in poll]
+
+ if ignore_alive is not None:
+ self.ignore_alive = ignore_alive
+ else:
+ self.ignore_alive = []
+
+ for s in services:
+ if addr is not None:
+ p = self.poller if s not in self.non_polled_services else None
+ self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+ self.freq[s] = service_list[s].frequency
+
+ try:
+ data = new_message(s)
+ except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
+ data = new_message(s, 0) # lists
+
+ self.data[s] = getattr(data, s)
+ self.logMonoTime[s] = 0
+ self.valid[s] = data.valid
+
+ def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
+ return self.data[s]
+
+ def update(self, timeout: int = 1000) -> None:
+ msgs = []
+ for sock in self.poller.poll(timeout):
+ msgs.append(recv_one_or_none(sock))
+
+ # non-blocking receive for non-polled sockets
+ for s in self.non_polled_services:
+ msgs.append(recv_one_or_none(self.sock[s]))
+ self.update_msgs(sec_since_boot(), msgs)
+
+ def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+ self.frame += 1
+ self.updated = dict.fromkeys(self.updated, False)
+ for msg in msgs:
+ if msg is None:
+ continue
+
+ s = msg.which()
+ self.updated[s] = True
+ self.rcv_time[s] = cur_time
+ self.rcv_frame[s] = self.frame
+ self.data[s] = getattr(msg, s)
+ self.logMonoTime[s] = msg.logMonoTime
+ self.valid[s] = msg.valid
+
+ for s in self.data:
+ # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+ if self.freq[s] > 1e-5:
+ # alive if delay is within 10x the expected frequency
+ self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+ else:
+ self.alive[s] = True
+
+ def all_alive(self, service_list=None) -> bool:
+ if service_list is None: # check all
+ service_list = self.alive.keys()
+ return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
+
+ def all_valid(self, service_list=None) -> bool:
+ if service_list is None: # check all
+ service_list = self.valid.keys()
+ return all(self.valid[s] for s in service_list)
+
+ def all_alive_and_valid(self, service_list=None) -> bool:
+ if service_list is None: # check all
+ service_list = self.alive.keys()
+ return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
+
+class PubMaster():
+ def __init__(self, services: List[str]):
+ self.sock = {}
+ for s in services:
+ self.sock[s] = pub_sock(s)
+
+ def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
+ if not isinstance(dat, bytes):
+ dat = dat.to_bytes()
+ self.sock[s].send(dat)
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
new file mode 100644
index 00000000000000..8e29566ca26c64
--- /dev/null
+++ b/cereal/messaging/bridge.cc
@@ -0,0 +1,64 @@
+#include
+#include
+#include
+#include
+#include
+
+[](https://github.com/commaai/openpilot/actions)
+[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
+[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
+[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
+[](https://codecov.io/gh/commaai/openpilot)
diff --git a/README_chffrplus.md b/README_chffrplus.md
deleted file mode 100644
index dc13e8c3f264c6..00000000000000
--- a/README_chffrplus.md
+++ /dev/null
@@ -1,36 +0,0 @@
-Welcome to chffrplus
-======
-
-[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
-
-This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
-
-It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
-
-
-Hardware
-------
-
-Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
-
-Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
-
-
-User Data / chffr Account / Crash Reporting
-------
-
-By default chffrplus creates an account and includes a client for chffr, our dashcam app.
-
-It's open source software, so you are free to disable it if you wish.
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-It does not log the user facing camera or the microphone.
-
-By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
-
-Licensing
-------
-
-chffrplus is released under the MIT license.
-
diff --git a/RELEASES.md b/RELEASES.md
index d847bb3f05bc8b..c427e60ddb5fcc 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,173 @@
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+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
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
+Version 0.7.6.1 (2020-06-16)
+========================
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
+
+Version 0.7.5 (2020-05-13)
+========================
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
+Version 0.7.1 (2020-01-20)
+========================
+ * comma two support!
+ * Lane Change Assist above 45 mph!
+ * Replace zmq with custom messaging library, msgq!
+ * Supercombo model: calibration and driving models are combined for better lead estimate
+ * More robust updater thanks to jyoung8607! Requires NEOS update
+ * Improve low speed ACC tuning
+
+Version 0.7 (2019-12-13)
+========================
+ * Move to SCons build system!
+ * Add Lane Departure Warning (LDW) for all supported vehicles!
+ * NEOS update: increase wifi speed thanks to jyoung8607!
+ * Adaptive driver monitoring based on scene
+ * New driving model trained end-to-end: improve lane lines and lead detection
+ * Smarter torque limit alerts for all cars
+ * Improve GM longitudinal control: proper computations for 15Hz radar
+ * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
+ * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
+ * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Forward stock FCW for Honda Nidec
+ * Volkswagen port now standard: comma Harness intercepts stock camera
+
+Version 0.6.6 (2019-11-05)
+========================
+ * Volkswagen support thanks to jyoung8607!
+ * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
+ * Lexus ES with TSS 2.0 support thanks to energee!
+ * Fix GM ignition detection and lock safety mode not required anymore
+ * Log panda firmware and dongle ID thanks to martinl!
+ * New driving model: improve path prediction and lead detection
+ * New driver monitoring model, 4x smaller and running on DSP
+ * Display an alert and don't start openpilot if panda has wrong firmware
+ * Fix bug preventing EON from terminating processes after a drive
+ * Remove support for Toyota giraffe without the 120Ohm resistor
+
+Version 0.6.5 (2019-10-07)
+========================
+ * NEOS update: upgrade to Python3 and new installer!
+ * comma Harness support!
+ * New driving model: improve path prediction
+ * New driver monitoring model: more accurate face and eye detection
+ * Redesign offroad screen to display updates and alerts
+ * Increase maximum allowed acceleration
+ * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
+ * Lexus CT Hybrid support thanks to thomaspich!
+ * Louder chime for critical alerts
+ * Add toggle to switch to dashcam mode
+ * Fix "invalid vehicle params" error on DSU-less Toyota
+
+Version 0.6.4 (2019-09-08)
+========================
+ * Forward stock AEB for Honda Nidec
+ * Improve lane centering on banked roads
+ * Always-on forward collision warning
+ * Always-on driver monitoring, except for right hand drive countries
+ * Driver monitoring learns the user's normal driving position
+ * Honda Fit support thanks to energee!
+ * Lexus IS support
+
Version 0.6.3 (2019-08-12)
========================
* Alert sounds from EON: requires NEOS update
@@ -38,7 +208,7 @@ Version 0.6 (2019-07-01)
* Panda safety code is MISRA compliant and ships with a signed version on release2
* New NEOS is 500MB smaller and has a reproducible usr/pipenv
* Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS2
+ * Improve tuning for supported Toyota with TSS 2.0
* Various other stability improvements
Version 0.5.13 (2019-05-31)
@@ -344,96 +514,96 @@ Version 0.3.4 (2017-07-28)
Version 0.3.3 (2017-06-28)
===========================
- * Improved model trained on more data
- * Alpha CR-V support thanks to energee and johnnwvs!
- * Using the opendbc project for DBC files
- * Minor performance improvements
- * UI update thanks to pjlao307
- * Power off button
- * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
Version 0.3.2 (2017-05-22)
===========================
- * Minor stability bugfixes
- * Added metrics and rear view mirror disable to settings
- * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
Version 0.3.1 (2017-05-17)
===========================
- * visiond stability bugfix
- * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing
Version 0.3.0 (2017-05-12)
===========================
- * Add CarParams struct to improve the abstraction layer
- * Refactor visiond IPC to support multiple clients
- * Add raw GPS and beginning support for navigation
- * Improve model in visiond using crowdsourced data
- * Add improved system logging to diagnose instability
- * Rewrite baseui in React Native
- * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
Version 0.2.9 (2017-03-01)
===========================
- * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1
Version 0.2.8 (2017-02-27)
===========================
- * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71
Version 0.2.7 (2017-02-08)
===========================
- * Better performance and pictures at night
- * Fix ptr alignment issue in boardd
- * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold
Version 0.2.6 (2017-01-31)
===========================
- * Fix bug in visiond model execution
+ * Fix bug in visiond model execution
Version 0.2.5 (2017-01-30)
===========================
- * Fix race condition in manager
+ * Fix race condition in manager
Version 0.2.4 (2017-01-27)
===========================
- * OnePlus 3T support
- * Enable installation as NEOS app
- * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
Version 0.2.3 (2017-01-11)
===========================
- * Reduce space usage by 80%
- * Add better logging
- * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
Version 0.2.2 (2017-01-10)
===========================
- * Board triggers started signal on CAN messages
- * Improved autoexposure
- * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
Version 0.2.1 (2016-12-14)
===========================
- * Performance improvements, removal of more numpy
- * Fix boardd process priority
- * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel
Version 0.2 (2016-12-12)
=========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
- * controlsd has been refactored
- * Shipped plant model and testing maneuvers
- * visiond exits more gracefully now
- * Hardware encoder in visiond should always init
- * ui now turns off the screen after 30 seconds
- * Switch to openpilot release branch for future releases
- * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
Version 0.1 (2016-11-29)
=========================
- * Initial release of openpilot
- * 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
+ * Initial release of openpilot
+ * 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
diff --git a/SAFETY.md b/SAFETY.md
index 3cda811e0cd9f9..9cf8933b930987 100644
--- a/SAFETY.md
+++ b/SAFETY.md
@@ -1,151 +1,34 @@
openpilot Safety
======
-openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system.
-Like other ACC and LKA systems, openpilot requires the driver to be alert and to
-pay attention at all times. We repeat, **driver alertness is necessary, but not
-sufficient, for openpilot to be used safely**.
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
+Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
+driver to be alert and to pay attention at all times.
In order to enforce driver alertness, openpilot includes a driver monitoring feature
that alerts the driver when distracted.
However, even with an attentive driver, we must make further efforts for the system to be
-safe. We have designed openpilot with two other safety considerations.
+safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
+used safely** and openpilot is provided with no warranty of fitness for any purpose.
-1. The driver must always be capable to immediately retake manual control of the vehicle,
+openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
+industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
+ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
+released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
+on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
+hardware-in-the-loop and in-vehicle tests before each software release.
+
+Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
+ensuring two main safety requirements.
+
+1. The driver must always be capable to immediately retake manual control of the vehicle,
by stepping on either pedal or by pressing the cancel button.
2. The vehicle must not alter its trajectory too quickly for the driver to safely
react. This means that while the system is engaged, the actuators are constrained
to operate within reasonable limits.
-Following are details of the car specific safety implementations:
-
-Honda/Acura
-------
-
- - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
- the stock system.
-
- - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM).
- The PCM limits acceleration to what is reasonable for a cruise control system. With an
- interceptor, the gas is clipped to 60%.
-
- - The brake is controlled by the 0x1FA CAN message. This message allows full
- braking, although the panda firmware and openpilot clip it to 1/4th of the max.
- This is approximately 0.3g of braking.
-
- - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS)
- controller in the car limits the torque to a very small amount, so regardless of the
- message, the controller cannot jerk the wheel.
-
- - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
- either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
- white led on the panda signifies if the panda is allowing control messages.
-
- - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
- replay of the same message.
-
-Toyota/Lexus
-------
-
- - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
- the stock system.
-
- - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
- the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
- control limits. Without the stock DSU connected, the acceleration command is controlled by the
- 0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
- by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
- Module (ECM) while the cruise control system is disengaged.
-
- - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
- commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
- units above the actual EPS generated motor torque to ensure limited differences between
- commanded and actual torques.
-
- - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
- respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
- panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
- the brake pedal pressed signal.
-
- - The cruise control system state is contained in the 0x1D2 message. No control messages are
- allowed if the cruise control system is not active. This is enforced by openpilot and the
- panda firmware. The white led on the panda signifies if the panda is allowing control messages.
-
-GM/Chevrolet
-------
-
- - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
- the stock system.
-
- - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
- openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
- while 3072 correspond to approximately 0.18g of acceleration from stop.
-
- - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
- and openpilot to 350. This is approximately 0.3g of braking.
-
- - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
- commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
- torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
- driver's will.
-
- - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
- respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
- panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
- the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
- regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
-
- - GM CAN uses both a counter and a checksum to ensure integrity and prevent
- replay of the same message.
-
-Hyundai/Kia (Lateral only)
-------
-
- - While the system is engaged, steer commands are subject to the same limits used by
- the stock system.
-
- - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
- commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
- torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
- driver's will.
-
-Chrysler/Jeep/Fiat (Lateral only)
-------
-
- - While the system is engaged, steer commands are subject to the same limits used by
- the stock system.
-
- - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
- commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
- units above the actual EPS generated motor torque to ensure limited differences between
- commanded and actual torques.
-
-Subaru (Lateral only)
-------
-
- - While the system is engaged, steer commands are subject to the same limits used by
- the stock system.
-
- - Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
- openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
- commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
- openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
- 0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
- torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
- driver's will.
+For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
not fully meeting the above requirements.
diff --git a/SConstruct b/SConstruct
new file mode 100644
index 00000000000000..609cea334af813
--- /dev/null
+++ b/SConstruct
@@ -0,0 +1,305 @@
+import os
+import shutil
+import subprocess
+import sys
+import sysconfig
+import platform
+import numpy as np
+
+TICI = os.path.isfile('/TICI')
+Decider('MD5-timestamp')
+
+AddOption('--test',
+ action='store_true',
+ help='build test files')
+
+AddOption('--asan',
+ action='store_true',
+ help='turn on ASAN')
+
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+is_tbp = os.path.isfile('/data/tinkla_buddy_pro')
+if arch == "aarch64" and is_tbp:
+ arch = "jarch64"
+if platform.system() == "Darwin":
+ arch = "Darwin"
+
+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
+
+if arch == "aarch64" or arch == "larch64":
+ lenv = {
+ "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
+ "PATH": os.environ['PATH'],
+ }
+
+ if arch == "aarch64":
+ # android
+ lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+ lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
+ cpppath = [
+ "#phonelibs/opencl/include",
+ "#phonelibs/snpe/include",
+ ]
+
+ libpath = [
+ "/usr/lib",
+ "/system/vendor/lib64",
+ "/system/comma/usr/lib",
+ "#phonelibs/nanovg",
+ ]
+
+ if arch == "larch64":
+ cpppath += ["#phonelibs/capnp-cpp/include", "#phonelibs/capnp-c/include"]
+ libpath += [
+ "#phonelibs/snpe/larch64",
+ "#phonelibs/libyuv/larch64/lib",
+ "/usr/lib/aarch64-linux-gnu"
+ ]
+ cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+ cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+ rpath = ["/usr/local/lib"]
+ else:
+ libpath += [
+ "#phonelibs/snpe/aarch64",
+ "#phonelibs/libyuv/lib",
+ "/system/vendor/lib64"
+ ]
+ cflags = ["-DQCOM", "-mcpu=cortex-a57"]
+ cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+ rpath = []
+
+ if QCOM_REPLAY:
+ cflags += ["-DQCOM_REPLAY"]
+ cxxflags += ["-DQCOM_REPLAY"]
+
+else:
+ cflags = []
+ cxxflags = []
+
+ lenv = {
+ "PATH": "#external/bin:" + os.environ['PATH'],
+ }
+ cpppath = [
+ "#external/tensorflow/include",
+ "#phonelibs/snpe/include",
+ ]
+
+ if arch == "Darwin":
+ libpath = [
+ "#phonelibs/libyuv/mac/lib",
+ "#cereal",
+ "#selfdrive/common",
+ "/usr/local/lib",
+ "/System/Library/Frameworks/OpenGL.framework/Libraries",
+ ]
+ cflags += ["-DGL_SILENCE_DEPRECATION"]
+ cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+ else:
+ libpath = [
+ "#phonelibs/snpe/x86_64-linux-clang",
+ "#phonelibs/libyuv/x64/lib",
+ "#external/tensorflow/lib",
+ "#cereal",
+ "#selfdrive/common",
+ "/usr/lib",
+ "/usr/local/lib",
+ ]
+
+ rpath = [
+ "phonelibs/snpe/x86_64-linux-clang",
+ "external/tensorflow/lib",
+ "cereal",
+ "selfdrive/common"
+ ]
+
+ # allows shared libraries to work globally
+ rpath = [os.path.join(os.getcwd(), x) for x in rpath]
+
+if GetOption('asan'):
+ ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+ ldflags_asan = ["-fsanitize=address"]
+else:
+ ccflags_asan = []
+ ldflags_asan = []
+
+# change pythonpath to this
+lenv["PYTHONPATH"] = Dir("#").path
+
+env = Environment(
+ ENV=lenv,
+ CCFLAGS=[
+ "-g",
+ "-fPIC",
+ "-O2",
+ "-Wunused",
+ "-Werror",
+ "-Wno-unknown-warning-option",
+ "-Wno-deprecated-register",
+ "-Wno-register",
+ "-Wno-inconsistent-missing-override",
+ "-Wno-c99-designator",
+ "-Wno-reorder-init-list",
+ ] + cflags + ccflags_asan,
+
+ CPPPATH=cpppath + [
+ "#",
+ "#selfdrive",
+ "#phonelibs/bzip2",
+ "#phonelibs/libyuv/include",
+ "#phonelibs/openmax/include",
+ "#phonelibs/json11",
+ "#phonelibs/curl/include",
+ "#phonelibs/libgralloc/include",
+ "#phonelibs/android_frameworks_native/include",
+ "#phonelibs/android_hardware_libhardware/include",
+ "#phonelibs/android_system_core/include",
+ "#phonelibs/linux/include",
+ "#phonelibs/snpe/include",
+ "#phonelibs/nanovg",
+ "#selfdrive/boardd",
+ "#selfdrive/common",
+ "#selfdrive/camerad",
+ "#selfdrive/camerad/include",
+ "#selfdrive/loggerd/include",
+ "#selfdrive/modeld",
+ "#selfdrive/sensord",
+ "#selfdrive/ui",
+ "#cereal/messaging",
+ "#cereal",
+ "#opendbc/can",
+ ],
+
+ CC='clang',
+ CXX='clang++',
+ LINKFLAGS=ldflags_asan,
+
+ RPATH=rpath,
+
+ CFLAGS=["-std=gnu11"] + cflags,
+ CXXFLAGS=["-std=c++1z"] + cxxflags,
+ LIBPATH=libpath + [
+ "#cereal",
+ "#phonelibs",
+ "#opendbc/can",
+ "#selfdrive/boardd",
+ "#selfdrive/common",
+ ],
+ CYTHONCFILESUFFIX=".cpp",
+ COMPILATIONDB_USE_ABSPATH=True,
+ tools=["default", "cython", "compilation_db"],
+)
+
+if GetOption('test'):
+ env.CompilationDatabase('compile_commands.json')
+
+if os.environ.get('SCONS_CACHE'):
+ cache_dir = '/tmp/scons_cache'
+ if TICI:
+ cache_dir = '/data/scons_cache'
+
+ if QCOM_REPLAY:
+ cache_dir = '/tmp/scons_cache_qcom_replay'
+
+ CacheDir(cache_dir)
+
+node_interval = 5
+node_count = 0
+def progress_function(node):
+ global node_count
+ node_count += node_interval
+ sys.stderr.write("progress: %d\n" % node_count)
+
+if os.environ.get('SCONS_PROGRESS'):
+ Progress(progress_function, interval=node_interval)
+
+SHARED = False
+
+def abspath(x):
+ if arch == 'aarch64':
+ pth = os.path.join("/data/pythonpath", x[0].path)
+ env.Depends(pth, x)
+ return File(pth)
+ else:
+ # rpath works elsewhere
+ return x[0].path.rsplit("/", 1)[1][:-3]
+
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+ envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+ envCython["LINKFLAGS"] = ["-shared"]
+ envCython["LIBS"] = [os.path.basename(py_include)]
+else:
+ envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+# still needed for apks
+zmq = 'zmq'
+Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+
+# cereal and messaging are shared with the system
+SConscript(['cereal/SConscript'])
+if SHARED:
+ cereal = abspath([File('cereal/libcereal_shared.so')])
+ messaging = abspath([File('cereal/libmessaging_shared.so')])
+else:
+ cereal = [File('#cereal/libcereal.a')]
+ messaging = [File('#cereal/libmessaging.a')]
+Export('cereal', 'messaging')
+
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+
+if SHARED:
+ common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
+else:
+ common = [_common, 'json11']
+ visionipc = _visionipc
+ gpucommon = [_gpucommon] + _gpu_libs
+
+Export('common', 'visionipc', 'gpucommon')
+
+SConscript(['opendbc/can/SConscript'])
+
+SConscript(['common/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['common/transformations/SConscript'])
+SConscript(['phonelibs/SConscript'])
+
+SConscript(['selfdrive/camerad/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+
+SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
+
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])
+
+SConscript(['selfdrive/loggerd/SConscript'])
+
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/models/SConscript'])
+SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+
+if arch != "Darwin":
+ SConscript(['selfdrive/logcatd/SConscript'])
+
+if arch == "x86_64":
+ SConscript(['tools/lib/index_log/SConscript'])
+
diff --git a/apk/ai.comma.plus.black.apk b/apk/ai.comma.plus.black.apk
deleted file mode 100644
index 94b3a6a1915a8c..00000000000000
Binary files a/apk/ai.comma.plus.black.apk and /dev/null differ
diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk
deleted file mode 100644
index 374862a792d77a..00000000000000
Binary files a/apk/ai.comma.plus.frame.apk and /dev/null differ
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 5dd8b8f204fa3e..90570253edabdb 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/cereal/.gitignore b/cereal/.gitignore
index 3f6de09fb90f69..40b416ea603930 100644
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -1,6 +1,15 @@
gen
node_modules
package-lock.json
+*.tmp
*.pyc
__pycache__
-
+.*.swp
+.*.swo
+libcereal*.a
+libmessaging.*
+libmessaging_shared.*
+services.h
+.sconsign.dblite
+libcereal_shared.*
+.mypy_cache/
diff --git a/cereal/Makefile b/cereal/Makefile
deleted file mode 100644
index 9a206a7c106322..00000000000000
--- a/cereal/Makefile
+++ /dev/null
@@ -1,62 +0,0 @@
-PWD := $(shell pwd)
-
-SRCS := log.capnp car.capnp ui.capnp tinkla.capnp tesla.capnp
-
-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ gen/cpp/ui.capnp.c++ gen/cpp/tinkla.capnp.c++ gen/cpp/tesla.capnp.c++
-JS := gen/js/car.capnp.js gen/js/log.capnp.js gen/js/ui.capnp.js gen/js/tinkla.capnp.js gen/js/tesla.capnp.js
-
-UNAME_M ?= $(shell uname -m)
-
-GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/ui.capnp.c gen/c/tinkla.capnp.c gen/c/tesla.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
-
-ifeq ($(UNAME_M),x86_64)
-
-ifneq (, $(shell which capnpc-java))
-GENS += gen/java/Car.java gen/java/Log.java gen/java/Tesla.java gen/java/Ui.java
-else
-$(warning capnpc-java not found, skipping java build)
-endif
-
-endif
-
-
-ifeq ($(UNAME_M),aarch64)
-CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
-else
-CAPNPC=capnpc
-endif
-
-.PHONY: all
-all: $(GENS)
-js: $(JS)
-
-.PHONY: clean
-clean:
- rm -rf gen
- rm -rf node_modules
- rm -rf package-lock.json
-
-gen/c/%.capnp.c: %.capnp
- @echo "[ CAPNPC C ] $@"
- mkdir -p gen/c/
- $(CAPNPC) '$<' -o c:gen/c/
-
-gen/js/%.capnp.js: %.capnp
- @echo "[ CAPNPC JavaScript ] $@"
- mkdir -p gen/js/
- sh ./generate_javascript.sh
-
-gen/cpp/%.capnp.c++: %.capnp
- @echo "[ CAPNPC C++ ] $@"
- mkdir -p gen/cpp/
- $(CAPNPC) '$<' -o c++:gen/cpp/
-
-gen/java/Car.java gen/java/Log.java: $(SRCS)
- @echo "[ CAPNPC java ] $@"
- mkdir -p gen/java/
- $(CAPNPC) $^ -o java:gen/java
-
-# c-capnproto needs some empty headers
-gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
- mkdir -p gen/c/include
- touch '$@'
diff --git a/cereal/SConscript b/cereal/SConscript
new file mode 100644
index 00000000000000..5c9221445f9cf3
--- /dev/null
+++ b/cereal/SConscript
@@ -0,0 +1,69 @@
+Import('env', 'envCython', 'arch', 'zmq')
+
+import shutil
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+messaging_dir = Dir('messaging')
+
+# TODO: remove src-prefix and cereal from command string. can we set working directory?
+env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
+env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h',
+'gen/cpp/tesla.capnp.c++', 'gen/cpp/tesla.capnp.h', 'gen/cpp/tinkla.capnp.c++', 'gen/cpp/tinkla.capnp.h', 'gen/cpp/ui.capnp.c++', 'gen/cpp/ui.capnp.h'],
+ ['car.capnp', 'log.capnp',
+'tesla.capnp', 'tinkla.capnp', 'ui.capnp'],
+ f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+if shutil.which('capnpc-java'):
+ env.Command(['gen/java/Car.java', 'gen/java/Log.java',
+'gen/java/Tesla.java', 'gen/java/Tinkla.java', 'gen/java/Ui.java'],
+ ['car.capnp', 'log.capnp',
+'tesla.capnp', 'tinkla.capnp', 'ui.capnp'],
+ f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
+
+# TODO: remove non shared cereal and messaging
+cereal_objects = env.SharedObject([
+ 'gen/cpp/car.capnp.c++',
+ 'gen/cpp/log.capnp.c++',
+ 'gen/cpp/tesla.capnp.c++',
+ 'messaging/socketmaster.cc',
+ 'gen/cpp/ui.capnp.c++',
+ 'gen/cpp/tinkla.capnp.c++',
+])
+
+env.Library('cereal', cereal_objects)
+env.SharedLibrary('cereal_shared', cereal_objects)
+
+cereal_dir = Dir('.')
+services_h = env.Command(['services.h'],
+ ['service_list.yaml', 'services.py'],
+ 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+
+messaging_objects = env.SharedObject([
+ 'messaging/messaging.cc',
+ 'messaging/impl_zmq.cc',
+ 'messaging/impl_msgq.cc',
+ 'messaging/msgq.cc',
+ 'messaging/socketmaster.cc',
+])
+
+messaging_lib = env.Library('messaging', messaging_objects)
+Depends('messaging/impl_zmq.cc', services_h)
+
+# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
+# TODO: get APK to load system zmq to remove the static link
+if arch == "aarch64":
+ zmq_static = FindFile("libzmq.a", "/usr/lib")
+ shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
+ env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
+Depends('messaging/bridge.cc', services_h)
+
+# different target?
+#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
+
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
+
+if GetOption('test'):
+ env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
diff --git a/cereal/__init__.py b/cereal/__init__.py
index 45c5c65e72550c..a9074bf9eeae82 100644
--- a/cereal/__init__.py
+++ b/cereal/__init__.py
@@ -1,3 +1,4 @@
+# pylint: skip-file
import os
import capnp
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 6306abc759a218..a9f2e9034d258e 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -13,19 +13,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
name @0 :EventName;
enable @1 :Bool;
noEntry @2 :Bool;
- warning @3 :Bool;
+ warning @3 :Bool; # alerts presented only when enabled or soft disabling
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
preEnable @7 :Bool;
- permanent @8 :Bool;
+ permanent @8 :Bool; # alerts presented regardless of openpilot state
enum EventName @0xbaa8c5d505f727de {
# TODO: copy from error list
canError @0;
steerUnavailable @1;
brakeUnavailable @2;
- gasUnavailable @3;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
@@ -38,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
pedalPressed @13;
cruiseDisabled @14;
radarCanError @15;
- dataNeeded @16;
speedTooLow @17;
outOfSpace @18;
overheat @19;
@@ -49,29 +47,22 @@ struct CarEvent @0x9b1657f34caf3ad3 {
pcmDisable @24;
noTarget @25;
radarFault @26;
- modelCommIssueDEPRECATED @27;
brakeHold @28;
parkBrake @29;
manualRestart @30;
lowSpeedLockout @31;
plannerError @32;
- ipasOverride @33;
debugAlert @34;
steerTempUnavailableMute @35;
resumeRequired @36;
preDriverDistracted @37;
promptDriverDistracted @38;
driverDistracted @39;
- geofence @40;
- driverMonitorOn @41;
- driverMonitorOff @42;
preDriverUnresponsive @43;
promptDriverUnresponsive @44;
driverUnresponsive @45;
belowSteerSpeed @46;
- calibrationProgress @47;
lowBattery @48;
- invalidGiraffeHonda @49;
vehicleModelInvalid @50;
controlsFailed @51;
sensorDataInvalid @52;
@@ -79,6 +70,54 @@ struct CarEvent @0x9b1657f34caf3ad3 {
tooDistracted @54;
posenetInvalid @55;
soundsUnavailable @56;
+ preLaneChangeLeft @57;
+ preLaneChangeRight @58;
+ laneChange @59;
+ internetConnectivityNeeded @61;
+ communityFeatureDisallowed @62;
+ lowMemory @63;
+ stockAeb @64;
+ ldw @65;
+ carUnrecognized @66;
+ radarCommIssue @67;
+ driverMonitorLowAcc @68;
+ invalidLkasSetting @69;
+ speedTooHigh @70;
+ laneChangeBlocked @71;
+ relayMalfunction @72;
+ gasPressed @73;
+ stockFcw @74;
+ startup @75;
+ startupNoCar @76;
+ startupNoControl @77;
+ startupMaster @78;
+ fcw @79;
+ steerSaturated @80;
+ belowEngageSpeed @84;
+ noGps @85;
+ wrongCruiseMode @87;
+ modeldLagging @89;
+ deviceFalling @90;
+ fanMalfunction @91;
+ cameraMalfunction @92;
+
+ startupOneplus @82;
+
+ gasUnavailableDEPRECATED @3;
+ dataNeededDEPRECATED @16;
+ modelCommIssueDEPRECATED @27;
+ ipasOverrideDEPRECATED @33;
+ geofenceDEPRECATED @40;
+ driverMonitorOnDEPRECATED @41;
+ driverMonitorOffDEPRECATED @42;
+ calibrationProgressDEPRECATED @47;
+ invalidGiraffeHondaDEPRECATED @49;
+ invalidGiraffeToyotaDEPRECATED @60;
+ whitePandaUnsupportedDEPRECATED @81;
+ commIssueWarningDEPRECATED @83;
+ focusRecoverActiveDEPRECATED @86;
+ neosUpdateRequiredDEPRECATED @88;
+ modelLagWarningDEPRECATED @93;
}
}
@@ -107,11 +146,17 @@ struct CarState {
brakeLights @19 :Bool;
# steering wheel
- steeringAngle @7 :Float32; # deg
- steeringRate @15 :Float32; # deg/s
- steeringTorque @8 :Float32; # TODO: standardize units
+ steeringAngle @7 :Float32; # deg
+ steeringRate @15 :Float32; # deg/s
+ steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units
- steeringPressed @9 :Bool; # if the user is using the steering wheel
+ steeringPressed @9 :Bool; # if the user is using the steering wheel
+ steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
+ steerWarning @35 :Bool; # temporary steer unavailble
+ steerError @36 :Bool; # permanent steer error
+ stockAeb @30 :Bool;
+ stockFcw @31 :Bool;
+ espDisabled @32 :Bool;
# cruise state
cruiseState @10 :CruiseState;
@@ -130,9 +175,16 @@ struct CarState {
seatbeltUnlatched @25 :Bool;
canValid @26 :Bool;
+ # clutch (manual transmission only)
+ clutchPressed @28 :Bool;
+
# which packets this state came from
canMonoTimes @12: List(UInt64);
+ # blindspot sensors
+ leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+ rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
struct WheelSpeeds {
# optional wheel speeds
fl @0 :Float32;
@@ -147,6 +199,7 @@ struct CarState {
available @2 :Bool;
speedOffset @3 :Float32;
standstill @4 :Bool;
+ nonAdaptive @5 :Bool;
}
enum GearShifter {
@@ -158,9 +211,10 @@ struct CarState {
sport @5;
low @6;
brake @7;
+ eco @8;
+ manumatic @9;
}
-
# send on change
struct ButtonEvent {
pressed @0 :Bool;
@@ -176,6 +230,9 @@ struct CarState {
altButton1 @6;
altButton2 @7;
altButton3 @8;
+ setCruise @9;
+ resumeCruise @10;
+ gapAdjustCruise @11;
}
}
}
@@ -268,6 +325,7 @@ struct CarControl {
wrongGear @4;
seatbeltUnbuckled @5;
speedTooHigh @6;
+ ldw @7;
}
enum AudibleAlert {
@@ -281,6 +339,7 @@ struct CarControl {
chimeWarning2 @5;
chimeWarningRepeat @6;
chimePrompt @7;
+ chimeWarning2Repeat @8;
}
}
}
@@ -300,6 +359,7 @@ struct CarParams {
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
safetyModel @9 :SafetyModel;
+ safetyModelPassive @42 :SafetyModel = silent;
safetyParam @10 :Int16;
steerMaxBP @11 :List(Float32);
@@ -309,7 +369,6 @@ struct CarParams {
brakeMaxBP @15 :List(Float32);
brakeMaxV @16 :List(Float32);
-
# things about the car in the manual
mass @17 :Float32; # [kg] running weight
wheelbase @18 :Float32; # [m] distance from rear to front axle
@@ -323,6 +382,7 @@ struct CarParams {
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
+ lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indi @27 :LateralINDITuning;
@@ -330,6 +390,7 @@ struct CarParams {
}
steerLimitAlert @28 :Bool;
+ steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
@@ -338,11 +399,26 @@ struct CarParams {
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
steerControlType @34 :SteerControlType;
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+ minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+ stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
+ startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
isPandaBlack @39: Bool;
+ dashcamOnly @41: Bool;
+ transmissionType @43 :TransmissionType;
+ carFw @44 :List(CarFw);
+ radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
+ communityFeature @46: Bool; # true if a community maintained feature is detected
+ fingerprintSource @49: FingerprintSource;
+ networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
+
+ struct LateralParams {
+ torqueBP @0 :List(Int32);
+ torqueV @1 :List(Int32);
+ }
struct LateralPIDTuning {
kpBP @0 :List(Float32);
@@ -361,7 +437,6 @@ struct CarParams {
deadzoneV @5 :List(Float32);
}
-
struct LateralINDITuning {
outerLoopGain @0 :Float32;
innerLoopGain @1 :Float32;
@@ -383,25 +458,85 @@ struct CarParams {
l @7 :List(Float32); # Kalman gain
}
-
enum SafetyModel {
- # does NOT match board setting
- noOutput @0;
- honda @1;
+ silent @0;
+ hondaNidec @1;
toyota @2;
elm327 @3;
gm @4;
- hondaBosch @5;
+ hondaBoschGiraffe @5;
ford @6;
cadillac @7;
hyundai @8;
chrysler @9;
tesla @10;
subaru @11;
+ gmPassive @12;
+ mazda @13;
+ nissan @14;
+ volkswagen @15;
+ toyotaIpas @16;
+ allOutput @17;
+ gmAscm @18;
+ noOutput @19; # like silent but without silent CAN TXs
+ hondaBoschHarness @20;
+ volkswagenPq @21;
+ subaruLegacy @22; # pre-Global platform
+ hyundaiLegacy @23;
+ hyundaiCommunity @24;
}
enum SteerControlType {
torque @0;
angle @1;
}
-}
\ No newline at end of file
+
+ enum TransmissionType {
+ unknown @0;
+ automatic @1; # Traditional auto, including DSG
+ manual @2; # True "stick shift" only
+ direct @3; # Electric vehicle or other direct drive
+ }
+
+ struct CarFw {
+ ecu @0 :Ecu;
+ fwVersion @1 :Data;
+ address @2: UInt32;
+ subAddress @3: UInt8;
+ }
+
+ enum Ecu {
+ eps @0;
+ esp @1;
+ fwdRadar @2;
+ fwdCamera @3;
+ engine @4;
+ unknown @5;
+ transmission @8; # Transmission Control Module
+ srs @9; # airbag
+ gateway @10; # can gateway
+ hud @11; # heads up display
+ combinationMeter @12; # instrument cluster
+
+ # Toyota only
+ dsu @6;
+ apgs @7;
+
+ # Honda only
+ vsa @13; # Vehicle Stability Assist
+ programmedFuelInjection @14;
+ electricBrakeBooster @15;
+ shiftByWire @16;
+ }
+
+ enum FingerprintSource {
+ can @0;
+ fw @1;
+ fixed @2;
+ }
+
+ enum NetworkLocation {
+ fwdCamera @0; # Standard/default integration at LKAS camera
+ gateway @1; # Integration at vehicle's CAN gateway
+ }
+}
diff --git a/cereal/generate_javascript.sh b/cereal/generate_javascript.sh
deleted file mode 100755
index d6525a64d95eed..00000000000000
--- a/cereal/generate_javascript.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/bin/bash
-
-rm -r gen/ts
-rm -r gen/js
-
-mkdir gen/ts
-mkdir gen/js
-
-echo "Installing needed npm modules"
-npm i capnpc-ts capnp-ts
-
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
-
-cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
-do
- TOKEN=`echo $line | sed 's/\./_/g'`
- ROOT=`echo $line | sed 's/\..*$//g'`
- cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
- if [[ "$?" == "1" ]]
- then
- sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
- fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
diff --git a/cereal/install_capnp.sh b/cereal/install_capnp.sh
deleted file mode 100755
index b83e1ffda1d221..00000000000000
--- a/cereal/install_capnp.sh
+++ /dev/null
@@ -1,39 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j4
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j4
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 053c452113a838..11f49fa12f1ede 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -49,6 +49,8 @@ struct InitData {
neo @1;
chffrAndroid @2;
chffrIos @3;
+ tici @4;
+ pc @5;
}
struct AndroidBuildInfo {
@@ -126,6 +128,11 @@ struct FrameData {
lensErr @13 :Float32;
lensTruePos @14 :Float32;
image @6 :Data;
+ gainFrac @15 :Float32;
+ focusVal @16 :List(Int16);
+ focusConf @17 :List(UInt8);
+ sharpnessScore @18 :List(UInt16);
+ recoverState @19 :Int32;
frameType @7 :FrameType;
timestampSof @8 :UInt64;
@@ -137,6 +144,7 @@ struct FrameData {
unknown @0;
neo @1;
chffrAndroid @2;
+ front @3;
}
struct AndroidCaptureResult {
@@ -180,6 +188,7 @@ struct SensorEventData {
gyroUncalibrated @12 :SensorVec;
proximity @13: Float32;
light @14: Float32;
+ temperature @15: Float32;
}
source @8 :SensorSource;
@@ -197,6 +206,8 @@ struct SensorEventData {
lsm6ds3 @5; # accelerometer (c2)
bmp280 @6; # barometer (c2)
mmc3416x @7; # magnetometer (c2)
+ bmx055 @8;
+ rpr0521 @9;
}
}
@@ -261,13 +272,15 @@ struct CanData {
}
struct ThermalData {
- cpu0 @0 :UInt16;
- cpu1 @1 :UInt16;
- cpu2 @2 :UInt16;
- cpu3 @3 :UInt16;
- mem @4 :UInt16;
- gpu @5 :UInt16;
- bat @6 :UInt32;
+ # Deprecated
+ cpu0DEPRECATED @0 :UInt16;
+ cpu1DEPRECATED @1 :UInt16;
+ cpu2DEPRECATED @2 :UInt16;
+ cpu3DEPRECATED @3 :UInt16;
+ memDEPRECATED @4 :UInt16;
+ gpuDEPRECATED @5 :UInt16;
+ batDEPRECATED @6 :UInt32;
+ pa0DEPRECATED @21 :UInt16;
# not thermal
freeSpace @7 :Float32;
@@ -276,6 +289,10 @@ struct ThermalData {
batteryCurrent @15 :Int32;
batteryVoltage @16 :Int32;
usbOnline @12 :Bool;
+ networkType @22 :NetworkType;
+ offroadPowerUsage @23 :UInt32; # Power usage since going offroad in uWh
+ networkStrength @24 :NetworkStrength;
+ carBatteryCapacity @25 :UInt32; # Estimated remaining car battery capacity in uWh
fanSpeed @10 :UInt16;
started @11 :Bool;
@@ -285,27 +302,94 @@ struct ThermalData {
chargingError @17 :Bool;
chargingDisabled @18 :Bool;
+ memUsedPercent @19 :Int8;
+ cpuPerc @20 :Int8;
+
+ cpu @26 :List(Float32);
+ gpu @27 :List(Float32);
+ mem @28 :Float32;
+ bat @29 :Float32;
+ ambient @30 :Float32;
+
enum ThermalStatus {
green @0; # all processes run
yellow @1; # critical processes run (kill uploader), engage still allowed
red @2; # no engage, will disengage
danger @3; # immediate process shutdown
}
+
+ enum NetworkType {
+ none @0;
+ wifi @1;
+ cell2G @2;
+ cell3G @3;
+ cell4G @4;
+ cell5G @5;
+ }
+
+ enum NetworkStrength {
+ unknown @0;
+ poor @1;
+ moderate @2;
+ good @3;
+ great @4;
+ }
}
struct HealthData {
# from can health
voltage @0 :UInt32;
current @1 :UInt32;
- started @2 :Bool;
+ ignitionLine @2 :Bool;
controlsAllowed @3 :Bool;
gasInterceptorDetected @4 :Bool;
startedSignalDetectedDeprecated @5 :Bool;
hasGps @6 :Bool;
canSendErrs @7 :UInt32;
canFwdErrs @8 :UInt32;
+ canRxErrs @19 :UInt32;
gmlanSendErrs @9 :UInt32;
- hwType @10: HwType;
+ hwType @10 :HwType;
+ fanSpeedRpm @11 :UInt16;
+ usbPowerMode @12 :UsbPowerMode;
+ ignitionCan @13 :Bool;
+ safetyModel @14 :Car.CarParams.SafetyModel;
+ faultStatus @15 :FaultStatus;
+ powerSaveEnabled @16 :Bool;
+ uptime @17 :UInt32;
+ faults @18 :List(FaultType);
+
+ enum FaultStatus {
+ none @0;
+ faultTemp @1;
+ faultPerm @2;
+ }
+
+ enum FaultType {
+ relayMalfunction @0;
+ unusedInterruptHandled @1;
+ interruptRateCan1 @2;
+ interruptRateCan2 @3;
+ interruptRateCan3 @4;
+ interruptRateTach @5;
+ interruptRateGmlan @6;
+ interruptRateInterrupts @7;
+ interruptRateSpiDma @8;
+ interruptRateSpiCs @9;
+ interruptRateUart1 @10;
+ interruptRateUart2 @11;
+ interruptRateUart3 @12;
+ interruptRateUart5 @13;
+ interruptRateUartDma @14;
+ interruptRateUsb @15;
+ interruptRateTim1 @16;
+ interruptRateTim3 @17;
+ registerDivergent @18;
+ interruptRateKlineInit @19;
+ interruptRateClockSource @20;
+ interruptRateTim9 @21;
+ # Update max fault type in boardd when adding faults
+ }
enum HwType {
unknown @0;
@@ -313,6 +397,15 @@ struct HealthData {
greyPanda @2;
blackPanda @3;
pedal @4;
+ uno @5;
+ dos @6;
+ }
+
+ enum UsbPowerMode {
+ none @0;
+ client @1;
+ cdp @2;
+ dcp @3;
}
}
@@ -363,18 +456,22 @@ struct RadarState @0x9a185389d6fdd05f {
struct LiveCalibrationData {
# deprecated
warpMatrix @0 :List(Float32);
+
# camera_frame_from_model_frame
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
+
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
+ validBlocks @9 :Int32;
# view_frame_from_road_frame
# ui's is inversed needs new
extrinsicMatrix @4 :List(Float32);
# the direction of travel vector in device frame
rpyCalib @7 :List(Float32);
+ rpyCalibSpread @8 :List(Float32);
}
struct LiveTracks {
@@ -442,7 +539,7 @@ struct ControlsState @0x97ff69c53601abf1 {
alertSoundDEPRECATED @45 :Text;
alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
awarenessStatus @26 :Float32;
- angleModelBias @27 :Float32;
+ angleModelBiasDEPRECATED @27 :Float32;
gpsPlannerActive @40 :Bool;
engageable @41 :Bool; # can OP be engaged?
driverMonitoringOn @43 :Bool;
@@ -452,6 +549,7 @@ struct ControlsState @0x97ff69c53601abf1 {
decelForTurn @47 :Bool;
decelForModel @54 :Bool;
+ canErrorCounter @57 :UInt32;
lateralControlState :union {
indiState @52 :LateralINDIState;
@@ -475,7 +573,7 @@ struct ControlsState @0x97ff69c53601abf1 {
enum AlertStatus {
normal @0; # low priority alert for user's convenience
- userPrompt @1; # mid piority alert that might require user intervention
+ userPrompt @1; # mid priority alert that might require user intervention
critical @2; # high priority alert that needs immediate user intervention
}
@@ -497,6 +595,7 @@ struct ControlsState @0x97ff69c53601abf1 {
delayedOutput @7 :Float32;
delta @8 :Float32;
output @9 :Float32;
+ saturated @10 :Bool;
}
struct LateralPIDState {
@@ -516,8 +615,9 @@ struct ControlsState @0x97ff69c53601abf1 {
steerAngle @1 :Float32;
i @2 :Float32;
output @3 :Float32;
- }
-
+ lqrOutput @4 :Float32;
+ saturated @5 :Bool;
+ }
}
struct LiveEventData {
@@ -527,6 +627,12 @@ struct LiveEventData {
struct ModelData {
frameId @0 :UInt32;
+ frameAge @12 :UInt32;
+ frameDropPerc @13 :Float32;
+ timestampEof @9 :UInt64;
+ modelExecutionTime @14 :Float32;
+ gpuExecutionTime @16 :Float32;
+ rawPred @15 :Data;
path @1 :PathData;
leftLane @2 :PathData;
@@ -537,6 +643,8 @@ struct ModelData {
settings @5 :ModelSettings;
leadFuture @7 :LeadData;
speed @8 :List(Float32);
+ meta @10 :MetaData;
+ longitudinal @11 :LongitudinalData;
struct PathData {
points @0 :List(Float32);
@@ -544,6 +652,7 @@ struct ModelData {
std @2 :Float32;
stds @3 :List(Float32);
poly @4 :List(Float32);
+ validLen @5 :Float32;
}
struct LeadData {
@@ -567,8 +676,74 @@ struct ModelData {
yuvCorrection @5 :List(Float32);
inputTransform @6 :List(Float32);
}
+
+ struct MetaData {
+ engagedProb @0 :Float32;
+ desirePrediction @1 :List(Float32);
+ brakeDisengageProb @2 :Float32;
+ gasDisengageProb @3 :Float32;
+ steerOverrideProb @4 :Float32;
+ desireState @5 :List(Float32);
+ }
+
+ struct LongitudinalData {
+ distances @2 :List(Float32);
+ speeds @0 :List(Float32);
+ accelerations @1 :List(Float32);
+ }
+}
+
+
+struct ModelDataV2 {
+ frameId @0 :UInt32;
+ frameAge @1 :UInt32;
+ frameDropPerc @2 :Float32;
+ timestampEof @3 :UInt64;
+ modelExecutionTime @15 :Float32;
+ gpuExecutionTime @17 :Float32;
+ rawPred @16 :Data;
+
+ position @4 :XYZTData;
+ orientation @5 :XYZTData;
+ velocity @6 :XYZTData;
+ orientationRate @7 :XYZTData;
+ laneLines @8 :List(XYZTData);
+ laneLineProbs @9 :List(Float32);
+ laneLineStds @13 :List(Float32);
+ roadEdges @10 :List(XYZTData);
+ roadEdgeStds @14 :List(Float32);
+ leads @11 :List(LeadDataV2);
+
+ meta @12 :MetaData;
+
+ struct XYZTData {
+ x @0 :List(Float32);
+ y @1 :List(Float32);
+ z @2 :List(Float32);
+ t @3 :List(Float32);
+ xStd @4 :List(Float32);
+ yStd @5 :List(Float32);
+ zStd @6 :List(Float32);
+ }
+
+ struct LeadDataV2 {
+ prob @0 :Float32;
+ t @1 :Float32;
+ xyva @2 :List(Float32);
+ xyvaStd @3 :List(Float32);
+ }
+
+ struct MetaData {
+ engagedProb @0 :Float32;
+ desirePrediction @1 :List(Float32);
+ brakeDisengageProb @2 :Float32;
+ gasDisengageProb @3 :Float32;
+ steerOverrideProb @4 :Float32;
+ desireState @5 :List(Float32);
+ }
}
+
struct CalibrationFeatures {
frameId @0 :UInt32;
@@ -589,6 +764,8 @@ struct EncodeIndex {
segmentId @4 :UInt32;
# index into camera file in segment in encode order
segmentIdEncode @5 :UInt32;
+ timestampSof @6 :UInt64;
+ timestampEof @7 :UInt64;
enum Type {
bigBoxLossless @0; # rcamera.mkv
@@ -697,6 +874,84 @@ struct PathPlan {
sensorValid @14 :Bool;
commIssue @15 :Bool;
posenetValid @16 :Bool;
+ desire @17 :Desire;
+ laneChangeState @18 :LaneChangeState;
+ laneChangeDirection @19 :LaneChangeDirection;
+
+ enum Desire {
+ none @0;
+ turnLeft @1;
+ turnRight @2;
+ laneChangeLeft @3;
+ laneChangeRight @4;
+ keepLeft @5;
+ keepRight @6;
+ }
+
+ enum LaneChangeState {
+ off @0;
+ preLaneChange @1;
+ laneChangeStarting @2;
+ laneChangeFinishing @3;
+ }
+
+ enum LaneChangeDirection {
+ none @0;
+ left @1;
+ right @2;
+ }
+}
+
+struct LiveLocationKalman {
+
+ # More info on reference frames:
+ # https://github.com/commaai/openpilot/tree/master/common/transformations
+
+ positionECEF @0 : Measurement;
+ positionGeodetic @1 : Measurement;
+ velocityECEF @2 : Measurement;
+ velocityNED @3 : Measurement;
+ velocityDevice @4 : Measurement;
+ accelerationDevice @5: Measurement;
+
+
+ # These angles are all eulers and roll, pitch, yaw
+ # orientationECEF transforms to rot matrix: ecef_from_device
+ orientationECEF @6 : Measurement;
+ calibratedOrientationECEF @20 : Measurement;
+ orientationNED @7 : Measurement;
+ angularVelocityDevice @8 : Measurement;
+
+ # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+ orientationNEDCalibrated @9 : Measurement;
+
+ # Calibrated frame is simply device frame
+ # aligned with the vehicle
+ velocityCalibrated @10 : Measurement;
+ accelerationCalibrated @11 : Measurement;
+ angularVelocityCalibrated @12 : Measurement;
+
+ gpsWeek @13 :Int32;
+ gpsTimeOfWeek @14 :Float64;
+ status @15 :Status;
+ unixTimestampMillis @16 :Int64;
+ inputsOK @17 :Bool = true;
+ posenetOK @18 :Bool = true;
+ gpsOK @19 :Bool = true;
+ sensorsOK @21 :Bool = true;
+ deviceStable @22 :Bool = true;
+
+ enum Status {
+ uninitialized @0;
+ uncalibrated @1;
+ valid @2;
+ }
+
+ struct Measurement {
+ value @0 : List(Float64);
+ std @1 : List(Float64);
+ valid @2 : Bool;
+ }
}
struct LiveLocationData {
@@ -1342,6 +1597,7 @@ struct UbloxGnss {
measurementReport @0 :MeasurementReport;
ephemeris @1 :Ephemeris;
ionoData @2 :IonoData;
+ hwStatus @3 :HwStatus;
}
struct MeasurementReport {
@@ -1465,8 +1721,29 @@ struct UbloxGnss {
healthValid @5 :Bool;
ionoCoeffsValid @6 :Bool;
}
-}
+ struct HwStatus {
+ noisePerMS @0 :UInt16;
+ agcCnt @1 :UInt16;
+ aStatus @2 :AntennaSupervisorState;
+ aPower @3 :AntennaPowerStatus;
+ jamInd @4 :UInt8;
+
+ enum AntennaSupervisorState {
+ init @0;
+ dontknow @1;
+ ok @2;
+ short @3;
+ open @4;
+ }
+
+ enum AntennaPowerStatus {
+ off @0;
+ on @1;
+ dontknow @2;
+ }
+ }
+}
struct Clocks {
bootTimeNanos @0 :UInt64;
@@ -1603,11 +1880,14 @@ struct UiLayoutState {
activeApp @0 :App;
sidebarCollapsed @1 :Bool;
mapEnabled @2 :Bool;
+ mockEngaged @3 :Bool;
enum App {
home @0;
music @1;
nav @2;
+ settings @3;
+ none @4;
}
}
@@ -1673,8 +1953,12 @@ struct OrbKeyFrame {
descriptors @3 :Data;
}
-struct DriverMonitoring {
+struct DriverState {
frameId @0 :UInt32;
+ modelExecutionTime @14 :Float32;
+ dspExecutionTime @16 :Float32;
+ rawPred @15 :Data;
+
descriptorDEPRECATED @1 :List(Float32);
stdDEPRECATED @2 :Float32;
faceOrientation @3 :List(Float32);
@@ -1684,12 +1968,38 @@ struct DriverMonitoring {
rightEyeProb @7 :Float32;
leftBlinkProb @8 :Float32;
rightBlinkProb @9 :Float32;
+ irPwrDEPRECATED @10 :Float32;
+ faceOrientationStd @11 :List(Float32);
+ facePositionStd @12 :List(Float32);
+ sgProb @13 :Float32;
+}
+
+struct DMonitoringState {
+ # TODO: deprecate old fields in controlsState
+ events @0 :List(Car.CarEvent);
+ faceDetected @1 :Bool;
+ isDistracted @2 :Bool;
+ awarenessStatus @3 :Float32;
+ isRHD @4 :Bool;
+ posePitchOffset @6 :Float32;
+ posePitchValidCount @7 :UInt32;
+ poseYawOffset @8 :Float32;
+ poseYawValidCount @9 :UInt32;
+ stepChange @10 :Float32;
+ awarenessActive @11 :Float32;
+ awarenessPassive @12 :Float32;
+ isLowStd @13 :Bool;
+ hiStdCount @14 :UInt32;
+ isPreview @15 :Bool;
+
+ rhdCheckedDEPRECATED @5 :Bool;
}
struct Boot {
wallTimeNanos @0 :UInt64;
lastKmsg @1 :Data;
lastPmsg @2 :Data;
+ launchLog @3 :Text;
}
struct LiveParametersData {
@@ -1726,6 +2036,8 @@ struct LiveMapData {
}
struct CameraOdometry {
+ frameId @4 :UInt32;
+ timestampEof @5 :UInt64;
trans @0 :List(Float32); # m/s in device frame
rot @1 :List(Float32); # rad/s in device frame
transStd @2 :List(Float32); # std m/s in device frame
@@ -1739,6 +2051,16 @@ struct KalmanOdometry {
rotStd @3 :List(Float32); # std rad/s in device frame
}
+struct Sentinel {
+ enum SentinelType {
+ endOfSegment @0;
+ endOfRoute @1;
+ startOfSegment @2;
+ startOfRoute @3;
+ }
+ type @0 :SentinelType;
+}
+
struct Event {
# in nanoseconds?
logMonoTime @0 :UInt64;
@@ -1764,7 +2086,7 @@ struct Event {
sendcan @17 :List(CanData);
logMessage @18 :Text;
liveCalibration @19 :LiveCalibrationData;
- androidLogEntry @20 :AndroidLogEntry;
+ androidLog @20 :AndroidLogEntry;
gpsLocation @21 :GpsLocationData;
carState @22 :Car.CarState;
carControl @23 :Car.CarControl;
@@ -1795,7 +2117,7 @@ struct Event {
gpsLocationExternal @48 :GpsLocationData;
location @49 :LiveLocationData;
uiNavigationEvent @50 :UiNavigationEvent;
- liveLocationKalman @51 :LiveLocationData;
+ liveLocationKalmanDEPRECATED @51 :LiveLocationData;
testJoystick @52 :Joystick;
orbOdometry @53 :OrbOdometry;
orbFeatures @54 :OrbFeatures;
@@ -1803,7 +2125,7 @@ struct Event {
orbKeyFrame @56 :OrbKeyFrame;
uiLayoutState @57 :UiLayoutState;
orbFeaturesSummary @58 :OrbFeaturesSummary;
- driverMonitoring @59 :DriverMonitoring;
+ driverState @59 :DriverState;
boot @60 :Boot;
liveParameters @61 :LiveParametersData;
liveMapData @62 :LiveMapData;
@@ -1813,5 +2135,13 @@ struct Event {
thumbnail @66: Thumbnail;
carEvents @68: List(Car.CarEvent);
carParams @69: Car.CarParams;
+ frontFrame @70: FrameData; # driver facing camera
+ dMonitoringState @71: DMonitoringState;
+ liveLocationKalman @72 :LiveLocationKalman;
+ sentinel @73 :Sentinel;
+ wideFrame @74: FrameData;
+ modelV2 @75 :ModelDataV2;
+ frontEncodeIdx @76 :EncodeIndex; # driver facing camera
+ wideEncodeIdx @77 :EncodeIndex;
}
-}
\ No newline at end of file
+}
diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp
deleted file mode 100644
index 336901392aa306..00000000000000
--- a/cereal/maptile.capnp
+++ /dev/null
@@ -1,53 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
- x @0: Float64;
- y @1: Float64;
- z @2: Float64;
-}
-
-struct PolyLine {
- points @0: List(Point);
-}
-
-# Map features
-struct Lane {
- id @0 :Text;
-
- leftBoundary @1 :LaneBoundary;
- rightBoundary @2 :LaneBoundary;
-
- leftAdjacentId @3 :Text;
- rightAdjacentId @4 :Text;
-
- inboundIds @5 :List(Text);
- outboundIds @6 :List(Text);
-
- struct LaneBoundary {
- polyLine @0 :PolyLine;
- startHeading @1 :Float32; # WRT north
- }
-}
-
-# Map tiles
-struct TileSummary {
- version @0 :Text;
- updatedAt @1 :UInt64; # Millis since epoch
-
- level @2 :UInt8;
- x @3 :UInt16;
- y @4 :UInt16;
-}
-
-struct MapTile {
- summary @0 :TileSummary;
- lanes @1 :List(Lane);
-}
diff --git a/cereal/messaging/.gitignore b/cereal/messaging/.gitignore
new file mode 100644
index 00000000000000..dbbe8e22aee488
--- /dev/null
+++ b/cereal/messaging/.gitignore
@@ -0,0 +1,10 @@
+demo
+bridge
+test_runner
+*.o
+*.os
+*.d
+*.a
+*.so
+messaging_pyx.cpp
+build/
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
new file mode 100644
index 00000000000000..0b1204b47a550a
--- /dev/null
+++ b/cereal/messaging/__init__.py
@@ -0,0 +1,225 @@
+# must be build with scons
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
+from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
+import capnp
+
+from typing import Optional, List, Union
+
+from cereal import log
+from cereal.services import service_list
+
+assert MultiplePublishersError
+assert MessagingError
+
+# sec_since_boot is faster, but allow to run standalone too
+try:
+ from common.realtime import sec_since_boot
+except ImportError:
+ import time
+ sec_since_boot = time.time
+ print("Warning, using python time.time() instead of faster sec_since_boot")
+
+context = Context()
+
+def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
+ dat = log.Event.new_message()
+ dat.logMonoTime = int(sec_since_boot() * 1e9)
+ dat.valid = True
+ if service is not None:
+ if size is None:
+ dat.init(service)
+ else:
+ dat.init(service, size)
+ return dat
+
+def pub_sock(endpoint: str) -> PubSocket:
+ sock = PubSocket()
+ sock.connect(context, endpoint)
+ return sock
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+ conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+ sock = SubSocket()
+ sock.connect(context, endpoint, addr.encode('utf8'), conflate)
+
+ if timeout is not None:
+ sock.setTimeout(timeout)
+
+ if poller is not None:
+ poller.registerSocket(sock)
+ return sock
+
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+ """Receive all message currently available on the queue"""
+ ret: List[bytes] = []
+ while 1:
+ if wait_for_one and len(ret) == 0:
+ dat = sock.receive()
+ else:
+ dat = sock.receive(non_blocking=True)
+
+ if dat is None:
+ break
+
+ ret.append(dat)
+
+ return ret
+
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+ """Receive all message currently available on the queue"""
+ ret: List[capnp.lib.capnp._DynamicStructReader] = []
+ while 1:
+ if wait_for_one and len(ret) == 0:
+ dat = sock.receive()
+ else:
+ dat = sock.receive(non_blocking=True)
+
+ if dat is None: # Timeout hit
+ break
+
+ dat = log.Event.from_bytes(dat)
+ ret.append(dat)
+
+ return ret
+
+
+# TODO: print when we drop packets?
+def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+ """Same as drain sock, but only returns latest message. Consider using conflate instead."""
+ dat = None
+
+ while 1:
+ if wait and dat is None:
+ rcv = sock.receive()
+ else:
+ rcv = sock.receive(non_blocking=True)
+
+ if rcv is None: # Timeout hit
+ break
+
+ dat = rcv
+
+ if dat is not None:
+ dat = log.Event.from_bytes(dat)
+
+ return dat
+
+def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+ dat = sock.receive()
+ if dat is not None:
+ dat = log.Event.from_bytes(dat)
+ return dat
+
+def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+ dat = sock.receive(non_blocking=True)
+ if dat is not None:
+ dat = log.Event.from_bytes(dat)
+ return dat
+
+def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
+ """Keep receiving until we get a message"""
+ while True:
+ dat = sock.receive()
+ if dat is not None:
+ return log.Event.from_bytes(dat)
+
+class SubMaster():
+ def __init__(self, services: List[str], poll: Optional[List[str]] = None,
+ ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
+ self.frame = -1
+ self.updated = {s: False for s in services}
+ self.rcv_time = {s: 0. for s in services}
+ self.rcv_frame = {s: 0 for s in services}
+ self.alive = {s: False for s in services}
+ self.sock = {}
+ self.freq = {}
+ self.data = {}
+ self.valid = {}
+ self.logMonoTime = {}
+
+ self.poller = Poller()
+ self.non_polled_services = [s for s in services if poll is not None and
+ len(poll) and s not in poll]
+
+ if ignore_alive is not None:
+ self.ignore_alive = ignore_alive
+ else:
+ self.ignore_alive = []
+
+ for s in services:
+ if addr is not None:
+ p = self.poller if s not in self.non_polled_services else None
+ self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+ self.freq[s] = service_list[s].frequency
+
+ try:
+ data = new_message(s)
+ except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
+ data = new_message(s, 0) # lists
+
+ self.data[s] = getattr(data, s)
+ self.logMonoTime[s] = 0
+ self.valid[s] = data.valid
+
+ def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
+ return self.data[s]
+
+ def update(self, timeout: int = 1000) -> None:
+ msgs = []
+ for sock in self.poller.poll(timeout):
+ msgs.append(recv_one_or_none(sock))
+
+ # non-blocking receive for non-polled sockets
+ for s in self.non_polled_services:
+ msgs.append(recv_one_or_none(self.sock[s]))
+ self.update_msgs(sec_since_boot(), msgs)
+
+ def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+ self.frame += 1
+ self.updated = dict.fromkeys(self.updated, False)
+ for msg in msgs:
+ if msg is None:
+ continue
+
+ s = msg.which()
+ self.updated[s] = True
+ self.rcv_time[s] = cur_time
+ self.rcv_frame[s] = self.frame
+ self.data[s] = getattr(msg, s)
+ self.logMonoTime[s] = msg.logMonoTime
+ self.valid[s] = msg.valid
+
+ for s in self.data:
+ # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+ if self.freq[s] > 1e-5:
+ # alive if delay is within 10x the expected frequency
+ self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+ else:
+ self.alive[s] = True
+
+ def all_alive(self, service_list=None) -> bool:
+ if service_list is None: # check all
+ service_list = self.alive.keys()
+ return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
+
+ def all_valid(self, service_list=None) -> bool:
+ if service_list is None: # check all
+ service_list = self.valid.keys()
+ return all(self.valid[s] for s in service_list)
+
+ def all_alive_and_valid(self, service_list=None) -> bool:
+ if service_list is None: # check all
+ service_list = self.alive.keys()
+ return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
+
+class PubMaster():
+ def __init__(self, services: List[str]):
+ self.sock = {}
+ for s in services:
+ self.sock[s] = pub_sock(s)
+
+ def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
+ if not isinstance(dat, bytes):
+ dat = dat.to_bytes()
+ self.sock[s].send(dat)
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
new file mode 100644
index 00000000000000..8e29566ca26c64
--- /dev/null
+++ b/cereal/messaging/bridge.cc
@@ -0,0 +1,64 @@
+#include