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openpilot v0.7.1 #949

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Jan 17, 2020
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5 changes: 5 additions & 0 deletions .gitignore
Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,14 @@ venv/
.tags
.ipynb_checkpoints
.idea
.overlay_init
.overlay_consistent
.sconsign.dblite
.vscode
model2.png
a.out

*.dylib
*.DSYM
*.d
*.pyc
Expand All @@ -27,6 +30,7 @@ a.out
config.json
clcache

persist
board/obj/
selfdrive/boardd/boardd
selfdrive/logcatd/logcatd
Expand All @@ -51,4 +55,5 @@ panda_jungle

.coverage*
htmlcov
pandaextra

2 changes: 2 additions & 0 deletions Dockerfile.openpilot
Original file line number Diff line number Diff line change
Expand Up @@ -17,12 +17,14 @@ RUN apt-get update && apt-get install -y \
libffi-dev \
libglew-dev \
libgles2-mesa-dev \
libglfw3-dev \
libglib2.0-0 \
liblzma-dev \
libmysqlclient-dev \
libomp-dev \
libopencv-dev \
libssl-dev \
libsqlite3-dev \
libtool \
libusb-1.0-0-dev \
libzmq5-dev \
Expand Down
27 changes: 3 additions & 24 deletions Pipfile
Original file line number Diff line number Diff line change
Expand Up @@ -8,71 +8,54 @@ opencv-python= "==3.4.2.17"
PyQt5 = "*"
ipython = "*"
networkx = "==2.3"
azure-common = "==1.1.23"
azure-core = "==1.1.1"
azure-common = "==1.1.24"
azure-nspkg = "==3.0.2"
azure-storage-blob = "==2.1.0"
azure-storage-common = "==2.1.0"
azure-storage-nspkg = "==3.1.0"
bincopy = "*"
bleach = "*"
boto = "*"
"boto3" = "*"
celery = "*"
control = "*"
datadog = "*"
decorator = "*"
dlib = "*"
dominate = "*"
elasticsearch = "*"
fasteners = "*"
future = "*"
futures = "*"
gevent = "*"
pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
gunicorn = "*"
"h5py" = "*"
hexdump = "*"
"html5lib" = "*"
imageio = "*"
intervaltree = "*"
ipykernel = "*"
joblib = "*"
json-logging-py = "*"
jupyter = "*"
libarchive = "*"
lru-dict = "*"
lxml = "*"
"mpld3" = "*"
msgpack-python = "*"
nbstripout = "*"
nose-parameterized = "*"
numpy = "*"
osmium = "*"
pbr = "*"
percache = "*"
pprofile = "*"
psutil = "*"
pycurl = "*"
git-pylint-commit-hook = "*"
pymongo = "*"
"pynmea2" = "*"
pypolyline = "*"
pysendfile = "*"
python-logstash = "*"
pyvcd = "*"
redis = "*"
redlock = "*"
"s2sphere" = "*"
scikit-image = "*"
"subprocess32" = "*"
supervisor = "*"
tenacity = "*"
tensorflow-gpu = ""
utm = "*"
"v4l2" = "*"
PyJWT = "==1.4.1"
PyMySQL = "==0.9.2"
Theano = "*"
Werkzeug = "*"
"backports.lzma" = "*"
Flask-Cors = "*"
Expand All @@ -84,23 +67,20 @@ PyNaCl = "*"
reverse_geocoder = "*"
Shapely = "*"
SQLAlchemy = "*"
uWSGI = "*"
scipy = "*"
fastcluster = "*"
backports-abc = "*"
pygame = "*"
simplejson = "*"
python-logstash-async = "*"
seaborn = "*"
tensorflow-estimator = "*"
pyproj = "*"
mock = "*"
blinker = "*"
gast = "==0.2.2"
matplotlib = "*"
dictdiffer = "*"
aenum = "*"
coverage = "*"
azure-cli-core = "*"

[packages]
overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
Expand Down Expand Up @@ -144,6 +124,5 @@ pillow = "*"
scons = "*"
cysignals = "*"


[requires]
python_version = "3.7.3"
1,422 changes: 678 additions & 744 deletions Pipfile.lock

Large diffs are not rendered by default.

4 changes: 3 additions & 1 deletion README.md
Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ openpilot should preserve all other vehicle's stock features, including, but are
Supported Hardware
------

At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON to the car. In the future, we'd like to support other platforms as well.
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. In the future, we'd like to support other platforms as well, like gaming PCs.

Supported Cars
------
Expand Down Expand Up @@ -159,6 +159,8 @@ Limitations of openpilot ALC and LDW

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.
Expand Down
9 changes: 9 additions & 0 deletions RELEASES.md
Original file line number Diff line number Diff line change
@@ -1,3 +1,12 @@
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!
Expand Down
9 changes: 7 additions & 2 deletions SConstruct
Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ else:
"#phonelibs/capnp-cpp/include",
"#phonelibs/capnp-c/include",
"#phonelibs/zmq/x64/include",
"#external/tensorflow/include",
]
libpath = [
"#phonelibs/capnp-cpp/x64/lib",
Expand All @@ -55,13 +56,15 @@ else:
"#phonelibs/zmq/x64/lib",
"#phonelibs/libyuv/x64/lib",
"#external/zmq/lib",
"#external/tensorflow/lib",
"#cereal",
"#selfdrive/common",
"/usr/lib",
"/usr/local/lib",
]

rpath = ["phonelibs/capnp-cpp/x64/lib",
"external/tensorflow/lib",
"cereal",
"selfdrive/common"]

Expand Down Expand Up @@ -201,11 +204,13 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/proclogd/SConscript'])

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

if arch == "aarch64":
SConscript(['selfdrive/logcatd/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/clocksd/SConscript'])

SConscript(['selfdrive/locationd/SConscript'])

Expand Down
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2 changes: 1 addition & 1 deletion cereal/.gitignore
Original file line number Diff line number Diff line change
Expand Up @@ -10,5 +10,5 @@ libmessaging.*
libmessaging_shared.*
services.h
.sconsign.dblite
libcereal_shared.so
libcereal_shared.*

42 changes: 42 additions & 0 deletions cereal/README.md
Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
What is cereal?
----

cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.

Imagine this use case:
* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
* A calibration process subscribes to the sensorEvents packet to use the IMU
* A localization process subscribes to the sensorEvents packet to use the IMU also


Messaging Spec
----

You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.

All Events have a logMonoTime and a valid. Then a big union defines the packet type.


Pub Sub Backends
----

cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.

Example
---
```python
import cereal.messaging as messaging

# in subscriber
sm = messaging.SubMaster(['sensorEvents'])
while 1:
sm.update()
print(sm['sensorEvents'])

# in publisher
pm = messaging.PubMaster(['sensorEvents'])
dat = messaging.new_message()
dat.init('sensorEvents', 1)
dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
pm.send('sensorEvents', dat)
```
4 changes: 2 additions & 2 deletions cereal/SConscript
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ cereal_objects = env.SharedObject([
])

env.Library('cereal', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])

cereal_dir = Dir('.')
services_h = env.Command(
Expand All @@ -49,7 +49,7 @@ 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
shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else []
shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)

env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
Expand Down
20 changes: 16 additions & 4 deletions cereal/car.capnp
Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
lowMemory @63;
stockAeb @64;
ldw @65;
carUnrecognized @66;
radarCommIssue @67;
}
}

Expand Down Expand Up @@ -410,11 +412,11 @@ struct CarParams {

enum SafetyModel {
silent @0;
honda @1;
hondaNidec @1;
toyota @2;
elm327 @3;
gm @4;
hondaBosch @5;
hondaBoschGiraffe @5;
ford @6;
cadillac @7;
hyundai @8;
Expand All @@ -428,7 +430,9 @@ struct CarParams {
toyotaIpas @16;
allOutput @17;
gmAscm @18;
noOutput @19; # like silent but with silent CAN TXs
noOutput @19; # like silent but without silent CAN TXs
hondaBoschHarness @20;
volkswagenPq @21;
}

enum SteerControlType {
Expand All @@ -444,13 +448,21 @@ struct CarParams {

struct CarFw {
ecu @0 :Ecu;
fwVersion @1 :Text;
fwVersion @1 :Data;
address @2: UInt32;
subAddress @3: UInt8;
}

enum Ecu {
eps @0;
esp @1;
fwdRadar @2;
fwdCamera @3;
engine @4;
unknown @5;

# Toyota only
dsu @6;
apgs @7;
}
}
11 changes: 11 additions & 0 deletions cereal/log.capnp
Original file line number Diff line number Diff line change
Expand Up @@ -310,6 +310,7 @@ struct HealthData {
hasGps @6 :Bool;
canSendErrs @7 :UInt32;
canFwdErrs @8 :UInt32;
canRxErrs @19 :UInt32;
gmlanSendErrs @9 :UInt32;
hwType @10 :HwType;
fanSpeedRpm @11 :UInt16;
Expand Down Expand Up @@ -484,6 +485,7 @@ struct ControlsState @0x97ff69c53601abf1 {
decelForTurn @47 :Bool;

decelForModel @54 :Bool;
canErrorCounter @57 :UInt32;

lateralControlState :union {
indiState @52 :LateralINDIState;
Expand Down Expand Up @@ -575,6 +577,7 @@ struct ModelData {
leadFuture @7 :LeadData;
speed @8 :List(Float32);
meta @10 :MetaData;
longitudinal @11 :LongitudinalData;

struct PathData {
points @0 :List(Float32);
Expand Down Expand Up @@ -605,13 +608,19 @@ 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;
}

struct LongitudinalData {
speeds @0 :List(Float32);
accelerations @1 :List(Float32);
}
}

struct CalibrationFeatures {
Expand Down Expand Up @@ -1757,6 +1766,8 @@ struct DriverMonitoring {
leftBlinkProb @8 :Float32;
rightBlinkProb @9 :Float32;
irPwrDEPRECATED @10 :Float32;
faceOrientationStd @11 :List(Float32);
facePositionStd @12 :List(Float32);
}

struct Boot {
Expand Down
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