Merge pull request #137 from commaai/devel

openpilot v0.3.7

.gitignore

@@ -4,6 +4,7 @@
 .idea
 model2.png
 
+*.DSYM
 *.d
 *.pyc
 *.pyo

.travis.yml

@@ -8,5 +8,5 @@ install:
 
 script:
   - docker run --rm
-      -v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'
+      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'

Dockerfile.openpilot

@@ -1,13 +1,19 @@
 FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev
-
+RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
 RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
 
 COPY requirements_openpilot.txt /tmp/
 RUN pip install -r /tmp/requirements_openpilot.txt
 
 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
-COPY . /tmp/openpilot
+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
+
+RUN mkdir /tmp/openpilot/selfdrive/test/out

README.md

@@ -22,12 +22,20 @@ Supported Cars
 - Acura ILX 2016 with AcuraWatch Plus
   - Due to use of the cruise control for gas, it can only be enabled above 25 mph
 
-- Honda Civic 2016 with Honda Sensing
+- Honda Civic 2016-2017 with Honda Sensing
   - Due to limitations in steering firmware, steering is disabled below 12 mph
+  - Note that the hatchback model is not supported
 
 - Honda CR-V Touring 2015-2016 (very alpha!)
   - Can only be enabled above 25 mph
 
+In Progress Cars
+------
+
+- Chevy Volt 2016-2018 Premier with Driver Confidence II
+
+- All 2017 Toyota Prius, Corolla, and RAV4
+
 Directory structure
 ------
 

RELEASES.md

@@ -1,6 +1,18 @@
-Version 0.3.6.1 (2017-08-15)
-============================
- * Mitigate low speed steering oscillations on some vehicles
+Version 0.3.7 (2017-09-30)
+==========================
+ * Improved lateral control using model predictive control
+ * Improved lane centering
+ * Improved GPS
+ * Reduced tendency of path deviation near right side exits
+ * Enable engagement while the accelerator pedal is pressed
+ * Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
+ * Disable engagement when park brake or brake hold are active
+ * Fixed sporadic longitudinal pulsing in Civic
+ * Cleanups to vehicle interface
+
+Version 0.3.6.1 (2017-08-15)   
+============================    
+ * Mitigate low speed steering oscillations on some vehicles    
  * Include board steering check for CR-V
 
 Version 0.3.6 (2017-08-08)

cereal/Makefile

@@ -1,4 +1,45 @@
--include build_from_src.mk
+SRCS := log.capnp car.capnp
+
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+
+
+UNAME_M ?= $(shell uname -m)
+
+# only generate C++ for docker tests
+ifneq ($(OPTEST),1)
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
+
+# Dont build java on the phone...
+ifeq ($(UNAME_M),x86_64)
+	GENS += gen/java/Car.java gen/java/Log.java
+endif
+
+endif
+
+.PHONY: all
+all: $(GENS)
+
+.PHONY: clean
+clean:
+	rm -rf gen
+
+gen/c/%.capnp.c: %.capnp
+	@echo "[ CAPNPC C ] $@"
+	mkdir -p gen/c/
+	capnpc '$<' -o c:gen/c/
+
+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 $^ -o java:gen/java
+
+# c-capnproto needs some empty headers
+gen/c/c++.capnp.h gen/c/java.capnp.h:
+	mkdir -p gen/c/
+	touch '$@'
 
-release:
-	@echo "cereal: this is a release"