openpilot v0.6.1 release

Pipfile

@@ -96,6 +96,9 @@ fastcluster = "==1.1.25"
 backports-abc = "*"
 pygame = "*"
 simplejson = "*"
+python-logstash-async = "*"
+pandas = "*"
+seaborn = "*"
 
 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}

README.md

@@ -60,13 +60,13 @@ Supported Cars
 
 | Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
 | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Acura                | ILX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chrysler             | Pacifica 2018            | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| 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               |
 | GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
@@ -84,9 +84,9 @@ Supported Cars
 | Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017-19          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
 | Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2017-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| 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           | Custom<sup>6</sup>|
 | Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
@@ -96,8 +96,9 @@ Supported Cars
 | Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
 | Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
 | Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018               | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-18             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Avalon 2017-18           | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Camry 2018-19            | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-19             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
@@ -110,6 +111,7 @@ Supported Cars
 | Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Sienna 2018              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 
 <sup>1</sup>[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).*** <br />
 <sup>2</sup>When 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). <br />

RELEASES.md

@@ -1,3 +1,10 @@
+Version 0.6.1 (2019-07-21)
+========================
+ * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
+ * Panda code Misra-c2012 compliance, tested against cppcheck coverage
+ * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
+ * Toyota Sienna support thanks to wocsor!
+
 Version 0.6 (2019-07-01)
 ========================
  * New model, with double the pixels and ten times the temporal context!

common/file_helpers.py

@@ -28,7 +28,7 @@ def get_tmpdir_on_same_filesystem(path):
   normpath = os.path.normpath(path)
   parts = normpath.split("/")
   if len(parts) > 1:
-    if parts[1].startswith("raid"):
+    if parts[1].startswith("raid") or parts[1].startswith("datasets"):
       if len(parts) > 2 and parts[2] == "runner":
         return "/{}/runner/tmp".format(parts[1])
       elif len(parts) > 2 and parts[2] == "aws":
@@ -101,3 +101,18 @@ def atomic_write_in_dir(path, **kwargs):
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
 
+def atomic_write_in_dir_neos(path, contents, mode=None):
+  """
+  Atomically writes contents to path using a temporary file in the same directory
+  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
+  """
+
+  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
+  f.write(contents)
+  f.flush()
+  if mode is not None:
+    os.fchmod(f.fileno(), mode)
+  os.fsync(f.fileno())
+  f.close()
+
+  os.rename(f.name, path)

common/fingerprints.py

@@ -28,10 +28,8 @@ def get_fingerprint_list():
 
 def is_valid_for_fingerprint(msg, car_fingerprint):
   adr = msg.address
-  bus = msg.src
   # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or \
-         bus != 0 or adr >= 0x800
+  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
 
 
 def eliminate_incompatible_cars(msg, candidate_cars):

common/params.py

@@ -50,12 +50,14 @@ class UnknownKeyName(Exception):
 
 keys = {
   "AccessToken": [TxType.PERSISTENT],
+  "AthenadPid": [TxType.PERSISTENT],
   "CalibrationParams": [TxType.PERSISTENT],
   "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "CompletedTrainingVersion": [TxType.PERSISTENT],
   "ControlsParams": [TxType.PERSISTENT],
   "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
   "DongleId": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
   "GitBranch": [TxType.PERSISTENT],
   "GitCommit": [TxType.PERSISTENT],
   "GitRemote": [TxType.PERSISTENT],
@@ -75,6 +77,7 @@ class UnknownKeyName(Exception):
   "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   "SpeedLimitOffset": [TxType.PERSISTENT],
   "SubscriberInfo": [TxType.PERSISTENT],
+  "TermsVersion": [TxType.PERSISTENT],
   "TrainingVersion": [TxType.PERSISTENT],
   "Version": [TxType.PERSISTENT],
 }

selfdrive/athena/athenad.py

@@ -1,15 +1,22 @@
 #!/usr/bin/env python2.7
 import json
+import jwt
 import os
 import random
+import re
+import select
+import subprocess
+import socket
 import time
 import threading
 import traceback
 import zmq
 import requests
 import six.moves.queue
+from datetime import datetime, timedelta
+from functools import partial
 from jsonrpc import JSONRPCResponseManager, dispatcher
-from websocket import create_connection, WebSocketTimeoutException
+from websocket import create_connection, WebSocketTimeoutException, ABNF
 from selfdrive.loggerd.config import ROOT
 
 import selfdrive.crash as crash
@@ -21,6 +28,7 @@
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4)
+LOCAL_PORT_WHITELIST = set([8022])
 
 dispatcher["echo"] = lambda s: s
 payload_queue = six.moves.queue.Queue()
@@ -49,6 +57,7 @@ def handle_long_poll(ws):
       thread.join()
 
 def jsonrpc_handler(end_event):
+  dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
   while not end_event.is_set():
     try:
       data = payload_queue.get(timeout=1)
@@ -85,6 +94,109 @@ def uploadFileToUrl(fn, url, headers):
     ret = requests.put(url, data=f, headers=headers, timeout=10)
   return ret.status_code
 
+def startLocalProxy(global_end_event, remote_ws_uri, local_port):
+  try:
+    cloudlog.event("athena startLocalProxy", remote_ws_uri=remote_ws_uri, local_port=local_port)
+
+    if local_port not in LOCAL_PORT_WHITELIST:
+      raise Exception("Requested local port not whitelisted")
+
+    params = Params()
+    dongle_id = params.get("DongleId")
+    private_key = open("/persist/comma/id_rsa").read()
+    identity_token = jwt.encode({'identity':dongle_id, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
+
+    ws = create_connection(remote_ws_uri,
+                           cookie="jwt=" + identity_token,
+                           enable_multithread=True)
+
+    ssock, csock = socket.socketpair()
+    local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    local_sock.connect(('127.0.0.1', local_port))
+    local_sock.setblocking(0)
+
+    proxy_end_event = threading.Event()
+    threads = [
+      threading.Thread(target=ws_proxy_recv, args=(ws, local_sock, ssock, proxy_end_event, global_end_event)),
+      threading.Thread(target=ws_proxy_send, args=(ws, local_sock, csock, proxy_end_event))
+    ]
+
+    map(lambda thread: thread.start(), threads)
+
+    return {"success": 1}
+  except Exception as e:
+    traceback.print_exc()
+    raise e
+
+@dispatcher.add_method
+def getPublicKey():
+  if not os.path.isfile('/persist/comma/id_rsa.pub'):
+    return None
+
+  with open('/persist/comma/id_rsa.pub', 'r') as f:
+    return f.read()
+
+@dispatcher.add_method
+def getSshAuthorizedKeys():
+  with open('/system/comma/home/.ssh/authorized_keys', 'r') as f:
+    return f.read()
+
+@dispatcher.add_method
+def getSimInfo():
+  sim_state = subprocess.check_output(['getprop', 'gsm.sim.state']).strip().split(',')
+  network_type = subprocess.check_output(['getprop', 'gsm.network.type']).strip().split(',')
+  mcc_mnc = subprocess.check_output(['getprop', 'gsm.sim.operator.numeric']).strip() or None
+
+  sim_id_aidl_out = subprocess.check_output(['service', 'call', 'iphonesubinfo', '11'])
+  sim_id_aidl_lines = sim_id_aidl_out.split('\n')
+  if len(sim_id_aidl_lines) > 3:
+    sim_id_lines = sim_id_aidl_lines[1:4]
+    sim_id_fragments = [re.search(r"'([0-9\.]+)'", line).group(1) for line in sim_id_lines]
+    sim_id = reduce(lambda frag1, frag2: frag1.replace('.', '') + frag2.replace('.', ''), sim_id_fragments)
+  else:
+    sim_id = None
+
+  return {
+    'sim_id': sim_id,
+    'mcc_mnc': mcc_mnc,
+    'network_type': network_type,
+    'sim_state': sim_state
+  }
+
+def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
+  while not (end_event.is_set() or global_end_event.is_set()):
+    try:
+      data = ws.recv()
+      local_sock.sendall(data)
+    except WebSocketTimeoutException:
+      pass
+    except Exception:
+      traceback.print_exc()
+      break
+
+  ssock.close()
+  end_event.set()
+
+def ws_proxy_send(ws, local_sock, signal_sock, end_event):
+  while not end_event.is_set():
+    try:
+      r, _, _ = select.select((local_sock, signal_sock), (), ())
+      if r:
+        if r[0].fileno() == signal_sock.fileno():
+          # got end signal from ws_proxy_recv
+          end_event.set()
+          break
+        data = local_sock.recv(4096)
+        if not data:
+          # local_sock is dead
+          end_event.set()
+          break
+
+        ws.send(data, ABNF.OPCODE_BINARY)
+    except Exception:
+        traceback.print_exc()
+        end_event.set()
+
 def ws_recv(ws, end_event):
   while not end_event.is_set():
     try:
@@ -138,5 +250,7 @@ def main(gctx=None):
 
     time.sleep(backoff(conn_retries))
 
+  params.delete("AthenadPid")
+
 if __name__ == "__main__":
   main()

selfdrive/boardd/boardd.cc

@@ -283,8 +283,9 @@ void can_health(void *s) {
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
-    uint8_t started_signal_detected;
-    uint8_t started_alt;
+    uint32_t can_send_errs;
+    uint32_t can_fwd_errs;
+    uint32_t gmlan_send_errs;
   } health;
 
   // recv from board
@@ -313,8 +314,10 @@ void can_health(void *s) {
   }
   healthData.setControlsAllowed(health.controls_allowed);
   healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
-  healthData.setStartedSignalDetected(health.started_signal_detected);
   healthData.setIsGreyPanda(is_grey_panda);
+  healthData.setCanSendErrs(health.can_send_errs);
+  healthData.setCanFwdErrs(health.can_fwd_errs);
+  healthData.setGmlanSendErrs(health.gmlan_send_errs);
 
   // send to health
   auto words = capnp::messageToFlatArray(msg);