Merge pull request #12 from commaai/devel

Pull in changes from OP 0.5.11

.travis.yml

@@ -7,8 +7,12 @@ install:
   - docker build -t tmppilot -f Dockerfile.openpilot .
 
 script:
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
   - docker run
       -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'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'

Dockerfile.openpilot

@@ -28,12 +28,14 @@ RUN pip install -r /tmp/requirements_openpilot.txt
 
 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
+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

README.md

@@ -68,6 +68,7 @@ Supported Cars
 | 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 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>|
 | Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
@@ -76,18 +77,22 @@ Supported Cars
 | Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | CR-V 2017-18             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V Hybrid 2019         | All                  | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | 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              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2017-19   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Jeep                 | Grand Cherokee 2017-18   | 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>|
 | Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Lexus                | RX Hybrid 2016-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
 | Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
 | Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |

RELEASES.md

@@ -1,14 +1,27 @@
+Version 0.5.11 (2019-04-17)
+========================
+ * Add support for Subaru
+ * Reduce panda power consumption by 60% when car is off
+ * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
+ * Fix bug in controls with new angle-offset learner in MPC
+ * Reduce cpu consumption of ubloxd by rewriting it in C++
+ * Improve driver monitoring model and face detection
+ * Improve performance of visiond and ui
+ * Honda Passport 2019 support
+ * Lexus RX Hybrid 2019 support thanks to schomems!
+
 Version 0.5.10 (2019-03-19)
 ========================
- * Self-tuning vehicle parameters: steering offset, tires stiffness and steering ratio
+ * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
  * Improve longitudinal control at low speed when lead vehicle harshly decelerates
  * Fix panda bug going unexpectedly in DCP mode when EON is connected
  * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
  * New Driver Monitoring Model
  * Support QR codes for login using comma connect
- * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. 
-   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. 
+ * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
+   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
  * Additional speed limit rules for Germany thanks to arne182
+ * Allow negative speed limit offsets
 
 Version 0.5.9 (2019-02-10)
 ========================

SAFETY.md

@@ -133,6 +133,19 @@ Chrysler/Jeep/Fiat (Lateral only)
     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.
 
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.

common/dbc.py

@@ -7,9 +7,9 @@
 
 def int_or_float(s):
   # return number, trying to maintain int format
-  try:
-    return int(s)
-  except ValueError:
+  if s.isdigit():
+    return int(s, 10)
+  else:
     return float(s)
 
 DBCSignal = namedtuple(
@@ -21,7 +21,7 @@ class dbc(object):
   def __init__(self, fn):
     self.name, _ = os.path.splitext(os.path.basename(fn))
     with open(fn) as f:
-      self.txt = f.read().split("\n")
+      self.txt = f.readlines()
     self._warned_addresses = set()
 
     # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
@@ -51,7 +51,8 @@ def __init__(self, fn):
         dat = bo_regexp.match(l)
 
         if dat is None:
-          print "bad BO", l
+          print("bad BO {0}".format(l))
+
         name = dat.group(2)
         size = int(dat.group(3))
         ids = int(dat.group(1), 0) # could be hex
@@ -67,8 +68,9 @@ def __init__(self, fn):
         if dat is None:
           dat = sgm_regexp.match(l)
           go = 1
+
         if dat is None:
-          print "bad SG", l
+          print("bad SG {0}".format(l))
 
         sgname = dat.group(1)
         start_bit = int(dat.group(go+2))
@@ -90,7 +92,8 @@ def __init__(self, fn):
         dat = val_regexp.match(l)
 
         if dat is None:
-          print "bad VAL", l
+          print("bad VAL {0}".format(l))
+
         ids = int(dat.group(1), 0) # could be hex
         sgname = dat.group(2)
         defvals = dat.group(3)
@@ -208,7 +211,7 @@ def decode(self, x, arr=None, debug=False):
 
     name = msg[0][0]
     if debug:
-      print name
+      print(name)
 
     st = x[2].ljust(8, '\x00')
     le, be = None, None
@@ -252,7 +255,7 @@ def decode(self, x, arr=None, debug=False):
       tmp = tmp * factor + offset
 
       # if debug:
-      #   print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])
+      #   print("%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
 
       if arr is None:
         out[s[0]] = tmp

common/ffi_wrapper.py

@@ -4,10 +4,8 @@
 import hashlib
 from cffi import FFI
 
-TMPDIR = "/tmp/ccache"
 
-
-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=None):
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
   if libraries is None:
     libraries = []
 
@@ -24,7 +22,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=None):
     try:
       mod = __import__(cache)
     except Exception:
-      print "cache miss", cache
+      print("cache miss {0}".format(cache))
       compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
       mod = __import__(cache)
   finally:

common/transformations/camera.py

@@ -1,6 +1,7 @@
 import numpy as np
 import common.transformations.orientation as orient
 import cv2
+import math
 
 FULL_FRAME_SIZE = (1164, 874)
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@@ -12,6 +13,17 @@
   [  0.,  FOCAL,  H/2.],
   [  0.,    0.,     1.]])
 
+
+leon_dcam_intrinsics = np.array([
+  [650,   0,   816/2],
+  [  0,  650,  612/2],
+  [  0,    0,     1]])
+
+eon_dcam_intrinsics = np.array([
+  [860,   0,   1152/2],
+  [  0,  860,  864/2],
+  [  0,    0,     1]])
+
 # aka 'K_inv' aka view_frame_from_camera_frame
 eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
 
@@ -64,7 +76,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
   img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_normalized = intrinsics_inv.dot(img_pts.T).T
+  img_pts_normalized = img_pts.dot(intrinsics_inv.T)
   img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
   return img_pts_normalized[:,:2].reshape(input_shape)
 
@@ -76,7 +88,7 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
   img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_denormalized = intrinsics.dot(img_pts.T).T
+  img_pts_denormalized = img_pts.dot(intrinsics.T)
   img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
   img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
   img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
@@ -147,28 +159,44 @@ def transform_img(base_img,
                  from_intr=eon_intrinsics,
                  to_intr=eon_intrinsics,
                  calib_rot_view=None,
-                 output_size=None):
-  cy = from_intr[1,2]
+                 output_size=None,
+                 pretransform=None,
+                 top_hacks=True):
   size = base_img.shape[:2]
   if not output_size:
     output_size = size[::-1]
-  h = 1.22
-  quadrangle = np.array([[0, cy + 20],
-                         [size[1]-1, cy + 20],
-                         [0, size[0]-1],
-                         [size[1]-1, size[0]-1]], dtype=np.float32)
-  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
-  quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
-                                      h*np.ones(4),
-                                      h/quadrangle_norm[:,1]))
-  rot = orient.rot_from_euler(augment_eulers)
-  if calib_rot_view is not None:
-    rot = calib_rot_view.dot(rot)
-  to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
-  to_KE = to_intr.dot(to_extrinsics)
-  warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
-  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
+
+  cy = from_intr[1,2]
+  def get_M(h=1.22):
+    quadrangle = np.array([[0, cy + 20],
+                           [size[1]-1, cy + 20],
+                           [0, size[0]-1],
+                           [size[1]-1, size[0]-1]], dtype=np.float32)
+    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
+    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
+                                        h*np.ones(4),
+                                        h/quadrangle_norm[:,1]))
+    rot = orient.rot_from_euler(augment_eulers)
+    if calib_rot_view is not None:
+      rot = calib_rot_view.dot(rot)
+    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
+    to_KE = to_intr.dot(to_extrinsics)
+    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
+    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
+                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
+    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
+    return M
+
+  M = get_M()
+  if pretransform is not None:
+    M = M.dot(pretransform)
   augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
+
+  if top_hacks:
+    cyy = int(math.ceil(to_intr[1,2]))
+    M = get_M(1000)
+    if pretransform is not None:
+      M = M.dot(pretransform)
+    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
+
   return augmented_rgb

common/transformations/model.py

@@ -32,7 +32,7 @@
 
 
 # MED model
-MEDMODEL_INPUT_SIZE = (640, 240)
+MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
 MEDMODEL_CY = 47.6
 

launch_chffrplus.sh

@@ -19,6 +19,8 @@ function launch {
   echo 0-3 > /dev/cpuset/foreground/cpus
   echo 0-3 > /dev/cpuset/android/cpus
 
+  # handle pythonpath
+  ln -s /data/openpilot /data/pythonpath
   export PYTHONPATH="$PWD"
 
   # start manager

opendbc/ford_cgea1_2_bodycan_2011.dbc

@@ -31,6 +31,8 @@ NS_ :
     BU_BO_REL_
     SG_MUL_VAL_
 
+BS_:
+
 BU_: XXX
 
 

opendbc/ford_cgea1_2_ptcan_2011.dbc

@@ -31,6 +31,8 @@ NS_ :
     BU_BO_REL_
     SG_MUL_VAL_
 
+BS_:
+
 BU_: XXX
 
 

opendbc/ford_fusion_2018_adas.dbc

@@ -31,6 +31,8 @@ NS_ :
     BU_BO_REL_
     SG_MUL_VAL_
 
+BS_:
+
 BU_: XXX
 
 BO_ 1280 Object_00: 8 XXX

opendbc/ford_fusion_2018_pt.dbc

@@ -31,6 +31,8 @@ NS_ :
     BU_BO_REL_
     SG_MUL_VAL_
 
+BS_:
+
 BU_: XXX
 
 BO_ 130 EPAS_INFO: 8 XXX
@@ -128,9 +130,10 @@ BO_ 984 Lane_Keep_Assist_Ui: 8 XXX
  SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX
  SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX
 
+CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ;
+
 VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ;
 VAL_ 970 Lkas_Action 15 "off" 9 "abrupt" 8 "abrupt2" 5 "smooth" 4 "smooth2" ;
 VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ;
 VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ;
 VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ;
-CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ;

opendbc/generator/honda/honda_civic_touring_2016_can.dbc

@@ -50,6 +50,9 @@ BO_ 450 EPB_STATUS: 8 EPB
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 493 HUD_SETTING: 8 XXX
+ SG_ SPEED_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+
 BO_ 487 BRAKE_PRESSURE: 4 VSA
  SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
  SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -125,6 +128,7 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 493 SPEED_UNIT 1 "mph" 0 "kph" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;