openpilot v0.4.0.1 release

README.md

@@ -3,7 +3,7 @@ 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 Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras and Toyotas. It's about on par with Tesla Autopilot at launch, 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 enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
@@ -29,13 +29,18 @@ Supported Cars
 - Honda CR-V Touring 2015-2016
   - Can only be enabled above 25 mph
 
-- Toyota RAV-4 2016+ with TSS-P (alpha!)
+- Toyota RAV-4 2016+ non-hybrid with TSS-P
   - By default it uses stock Toyota ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29) and can be enabled above 20 mph
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
 
 - Toyota Prius 2017 (alpha!)
   - By default it uses stock Toyota ACC for longitudinal control
-  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29)
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29)
+  - Lateral control needs improvements
+
+- Toyota RAV-4 2017 hybrid (alpha!)
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go
 
 In Progress Cars
 ------
@@ -50,6 +55,12 @@ Community WIP Cars
 
 - [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
 
+- [Honda Odyssey 2018 with Honda Sensing](https://github.com/commaai/openpilot/pull/155)
+
+- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
+
+- [Acura RDX 2018 with AcuraWatch Plus](https://github.com/commaai/openpilot/pull/162)
+
 Directory structure
 ------
 

RELEASES.md

@@ -1,3 +1,12 @@
+Version 0.4.0.1 (2017-12-21)
+==========================
+ * New UI to match chffrplus
+ * Improved lateral control tuning to fix oscillations on Civic
+ * Add alpha support for 2017 Toyota Rav4 Hybrid
+ * Reduced CPU usage
+ * Removed unnecessary utilization of fan at max speed
+ * Minor bug fixes
+
 Version 0.3.9 (2017-11-21)
 ==========================
  * Add alpha support for 2017 Toyota Prius

cereal/car.capnp

@@ -12,12 +12,13 @@ $Java.outerClassname("Car");
 struct CarEvent @0x9b1657f34caf3ad3 {
   name @0 :EventName;
   enable @1 :Bool;
-  preEnable @7 :Bool;
   noEntry @2 :Bool;
   warning @3 :Bool;
   userDisable @4 :Bool;
   softDisable @5 :Bool;
   immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool;
 
   enum EventName @0xbaa8c5d505f727de {
     # TODO: copy from error list
@@ -64,9 +65,10 @@ struct CarState {
   events @13 :List(CarEvent);
 
   # car speed
-  vEgo @1 :Float32;       # best estimate of speed
-  aEgo @16 :Float32;       # best estimate of acceleration
-  vEgoRaw @17 :Float32;       # unfiltered speed
+  vEgo @1 :Float32;         # best estimate of speed
+  aEgo @16 :Float32;        # best estimate of acceleration
+  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
+  yawRate @22 :Float32;     # best estimate of yaw rate
   standstill @18 :Bool;
   wheelSpeeds @2 :WheelSpeeds;
 
@@ -309,4 +311,5 @@ struct CarParams {
   directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
   stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
   startAccel @35 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
 }

cereal/log.capnp

@@ -28,6 +28,7 @@ struct InitData {
   version @4 :Text;
   gitCommit @10 :Text;
   gitBranch @11 :Text;
+  gitRemote @13 :Text;
 
   androidBuildInfo @5 :AndroidBuildInfo;
   androidSensors @6 :List(AndroidSensor);
@@ -154,6 +155,8 @@ struct SensorEventData {
     pressure @9 :SensorVec;
     magneticUncalibrated @11 :SensorVec;
     gyroUncalibrated @12 :SensorVec;
+    proximity @13: Float32;
+    light @14: Float32;
   }
   source @8 :SensorSource;
 
@@ -242,8 +245,11 @@ struct ThermalData {
   freeSpace @7 :Float32;
   batteryPercent @8 :Int16;
   batteryStatus @9 :Text;
+  usbOnline @12 :Bool;
 
   fanSpeed @10 :UInt16;
+  started @11 :Bool;
+  startedTs @13 :UInt64;
 }
 
 struct HealthData {
@@ -349,6 +355,7 @@ struct Live100Data {
   jerkFactor @12 :Float32;
   angleSteers @13 :Float32;     # Steering angle in degrees.
   angleSteersDes @29 :Float32;
+  curvature @37 :Float32;       # path curvature from vehicle model
   hudLeadDEPRECATED @14 :Int32;
   cumLagMs @15 :Float32;
 
@@ -361,6 +368,8 @@ struct Live100Data {
   rearViewCam @23 :Bool;
   alertText1 @24 :Text;
   alertText2 @25 :Text;
+  alertStatus @38 :AlertStatus;
+  alertSize @39 :AlertSize;
   awarenessStatus @26 :Float32;
 
   angleOffset @27 :Float32;
@@ -378,6 +387,20 @@ struct Live100Data {
     stopping @2;
     starting @3;
   }
+
+  enum AlertStatus {
+    normal @0;       # low priority alert for user's convenience
+    userPrompt @1;   # mid piority alert that might require user intervention
+    critical @2;     # high priority alert that needs immediate user intervention
+  }
+
+  enum AlertSize {
+    none @0;    # don't display the alert
+    small @1;   # small box
+    mid @2;     # mid screen
+    full @3;    # full screen
+  }
+
 }
 
 struct LiveEventData {
@@ -600,6 +623,23 @@ struct NavUpdate {
   }
 }
 
+struct NavStatus {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
 struct CellInfo {
   timestamp @0 :UInt64;
   repr @1 :Text; # android toString() for now
@@ -1300,5 +1340,6 @@ struct Event {
     clocks @35 :Clocks;
     liveMpc @36 :LiveMpcData;
     liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
+    navStatus @38 :NavStatus;
   }
 }

common/basedir.py

@@ -1,4 +1,4 @@
 import os
-BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
 

common/fingerprints.py

@@ -19,6 +19,9 @@
   "TOYOTA RAV4 2017": {
     36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
   },
+  "TOYOTA RAV4 2017 HYBRID": {
+    36L: 8, 37L: 8, 170L: 8, 180L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 581L: 5, 608L: 8, 610L: 5, 643L: 7, 713L: 8, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 3, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1184L: 8, 1185L: 8, 1186L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1197L: 8, 1198L: 8, 1199L: 8, 1212L: 8, 1227L: 8, 1232L: 8, 1235L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8
+  },
   "TOYOTA PRIUS 2017": {
     36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
   },

common/kalman/ekf.py

@@ -35,7 +35,7 @@ def __repr__(self):
 # A generic sensor class that does no pre-processing of data
 class SimpleSensor:
   # obs_model can be
-  #   a full obesrvation model matrix, or
+  #   a full observation model matrix, or
   #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
   # covar can be
   #   a full covariance matrix
@@ -129,7 +129,7 @@ def update(self, reading):
       print "covar:\n",self.covar
 
   def update_scalar(self, reading):
-    # like update but knowing that measurment is a scalar
+    # like update but knowing that measurement is a scalar
     # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
 
     # innovation = reading.data - np.matmul(reading.obs_model, self.state)
@@ -188,7 +188,7 @@ def calc_transfer_fun(self, dt):
 
     Current implementations calculate A and J as functions of state. Control input
       can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calcualtion of A and J
+      and using it during calculation of A and J
     """
 
 

common/params.py

@@ -52,12 +52,14 @@ class UnknownKeyName(Exception):
   "Version": TxType.PERSISTANT,
   "GitCommit": TxType.PERSISTANT,
   "GitBranch": TxType.PERSISTANT,
+  "GitRemote": TxType.PERSISTANT,
 # written: baseui
 # read:    ui, controls
   "IsMetric": TxType.PERSISTANT,
   "IsRearViewMirror": TxType.PERSISTANT,
   "IsFcwEnabled": TxType.PERSISTANT,
   "HasAcceptedTerms": TxType.PERSISTANT,
+  "IsUploadVideoOverCellularEnabled": TxType.PERSISTANT,
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTANT,
@@ -69,6 +71,7 @@ class UnknownKeyName(Exception):
   "CarParams": TxType.CLEAR_ON_CAR_START,
 
   "Passive": TxType.PERSISTANT,
+  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
 }
 
 def fsync_dir(path):

common/profiler.py

@@ -1,32 +1,47 @@
-from common.realtime import sec_since_boot
+import time
 
 class Profiler(object):
   def __init__(self, enabled=False):
     self.enabled = enabled
-    self.cp = []
-    self.start_time = sec_since_boot()
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.clock()
     self.last_time = self.start_time
-
-  def checkpoint(self, name):
-    if not self.enabled:
-      return
-    tt = sec_since_boot()
-    self.cp.append((name, tt - self.last_time))
-    self.last_time = tt
+    self.tot = 0.
 
   def reset(self, enabled=False):
     self.enabled = enabled
-    self.cp = []
-    self.start_time = sec_since_boot()
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.clock()
     self.last_time = self.start_time
 
+  def checkpoint(self, name, ignore=False):
+    # ignore flag needed when benchmarking threads with ratekeeper
+    if not self.enabled:
+      return
+    tt = time.clock()
+    if name not in self.cp:
+      self.cp[name] = 0.
+      if ignore:
+        self.cp_ignored.append(name)
+    self.cp[name] += tt - self.last_time
+    if not ignore:
+      self.tot += tt - self.last_time
+    self.last_time = tt
+
   def display(self):
     if not self.enabled:
       return
+    self.iter += 1
     print "******* Profiling *******"
-    tot = 0.0
-    for n, ms in self.cp:
-      print "%30s: %7.2f" % (n, ms*1000.0)
-      tot += ms
-    print "    TOTAL: %7.2f" % (tot*1000.0)
+    for n in self.cp:
+      ms = self.cp[n]
+      if n in self.cp_ignored:
+        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100), "  IGNORED"
+      else:
+        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100)
+    print "Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot)
 

launch_openpilot.sh

@@ -0,0 +1,39 @@
+#!/usr/bin/bash
+
+function launch {
+  # apply update
+  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+     git reset --hard @{u} &&
+     git clean -xdf &&
+     exec "${BASH_SOURCE[0]}"
+  fi
+
+  # check if NEOS update is required
+  while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do
+    curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater
+    sleep 10
+  done
+
+  # no cpu rationing for now
+  echo 0-3 > /dev/cpuset/background/cpus
+  echo 0-3 > /dev/cpuset/system-background/cpus
+  echo 0-3 > /dev/cpuset/foreground/boost/cpus
+  echo 0-3 > /dev/cpuset/foreground/cpus
+  echo 0-3 > /dev/cpuset/android/cpus
+
+  # wait for network
+  (cd selfdrive/ui/spinner && exec ./spinner 'waiting for network...') & spin_pid=$!
+  until ping -W 1 -c 1 8.8.8.8; do sleep 1; done
+  kill $spin_pid
+
+  export PYTHONPATH="$PWD"
+
+  # start manager
+  cd selfdrive
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch

selfdrive/boardd/boardd.cc

@@ -130,7 +130,11 @@ bool usb_connect() {
   #endif
 
   // no output is the default
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_NOOUTPUT, 0, NULL, 0, TIMEOUT);
+  if (getenv("RECVMOCK")) {
+    libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_ELM327, 0, NULL, 0, TIMEOUT);
+  } else {
+    libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_NOOUTPUT, 0, NULL, 0, TIMEOUT);
+  }
 
   if (safety_setter_thread_handle == -1) {
     err = pthread_create(&safety_setter_thread_handle, NULL, safety_setter_thread, NULL);

selfdrive/can/libdbc_py.py

@@ -1,11 +1,12 @@
 import os
+import sys
 import subprocess
 
 from cffi import FFI
 
 can_dir = os.path.dirname(os.path.abspath(__file__))
 libdbc_fn = os.path.join(can_dir, "libdbc.so")
-subprocess.check_output(["make"], cwd=can_dir)
+subprocess.check_call(["make"], stdout=sys.stderr, cwd=can_dir)
 
 ffi = FFI()
 ffi.cdef("""

selfdrive/can/parser.cc

@@ -242,7 +242,7 @@ class CANParser {
       const auto& state = kv.second;
       if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
         if (state.seen > 0) {
-          INFO("%X TIMEOUT\n", state.address);
+          DEBUG("%X TIMEOUT\n", state.address);
         }
         can_valid = false;
       }