openpilot v0.8.12 release

zhou13 · Dec 14, 2021 · bc7d216 · bc7d216
1 parent ce9e739
commit bc7d216
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diff --git a/.gitignore b/.gitignore
@@ -58,6 +58,7 @@ one
 openpilot
 notebooks
 xx
+yy
 hyperthneed
 panda_jungle
 provisioning

diff --git a/Jenkinsfile b/Jenkinsfile
@@ -1,7 +1,7 @@
 def phone(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
 
 set -e
 
@@ -29,7 +29,7 @@ cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
 
-EOF"""
+END"""
 
     sh script: ssh_cmd, label: step_label
   }
@@ -57,38 +57,29 @@ pipeline {
   }
 
   stages {
-
-    stage('Build release2') {
-      agent {
-        docker {
-          image 'python:3.7.3'
-          args '--user=root'
-        }
-      }
+    stage('build releases') {
       when {
         branch 'devel-staging'
       }
-      steps {
-        phone_steps("eon-build", [
-          ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
-    }
 
-    stage('Build release3') {
-      agent {
-        docker {
-          image 'python:3.7.3'
-          args '--user=root'
+      parallel {
+        stage('release2') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("eon-build", [
+              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
+
+        stage('release3') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici", [
+              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
         }
-      }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("tici", [
-          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-        ])
       }
     }
 
@@ -105,43 +96,8 @@ pipeline {
       }
 
       stages {
-
-        /*
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilotci'
-              args '--privileged --shm-size=1G --user=root'
-            }
-          }
-          stages {
-            stage('Build') {
-              steps {
-                sh 'scons -j$(nproc)'
-              }
-            }
-          }
-          post {
-            always {
-              // fix permissions since docker runs as another user
-              sh "chmod -R 777 ."
-            }
-          }
-        }
-        */
-
         stage('On-device Tests') {
-          agent {
-            docker {
-              /*
-              filename 'Dockerfile.ondevice_ci'
-              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
-              */
-              image 'python:3.7.3'
-              args '--user=root'
-            }
-          }
-
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           stages {
             stage('parallel tests') {
               parallel {
@@ -247,6 +203,15 @@ pipeline {
                   }
                 }
 
+                stage('C3: replay') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
               }
             }
 

diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-![](https://user-images.githubusercontent.com/37757984/127420744-89ca219c-8f8e-46d3-bccf-c1cb53b81bb1.png)
+![](https://i.imgur.com/b0ZyIx5.jpg)
 
 Table of Contents
 =======================
@@ -21,16 +21,16 @@ What is openpilot?
 
 <table>
   <tr>
-    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
   </tr>
   <tr>
-    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
   </tr>
 </table>
 
@@ -40,7 +40,7 @@ Running in a car
 
 To use openpilot in a car, you need four things
 * This software. It's free and available right here.
-* One of [the 140+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
+* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
 * A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
 * A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
 

diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,22 @@
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
 Version 0.8.11 (2021-11-29)
 ========================
  * Support for CAN FD on the red panda

diff --git a/SConstruct b/SConstruct
@@ -60,7 +60,6 @@ if arch == "aarch64" and TICI:
   arch = "larch64"
 
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
 
 lenv = {
   "PATH": os.environ['PATH'],
@@ -91,7 +90,6 @@ if arch == "aarch64" or arch == "larch64":
     "/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
-    "#third_party/nanovg",
     f"#third_party/acados/{arch}/lib",
   ]
 
@@ -210,7 +208,6 @@ env = Environment(
     "#third_party/linux/include",
     "#third_party/snpe/include",
     "#third_party/mapbox-gl-native-qt/include",
-    "#third_party/nanovg",
     "#third_party/qrcode",
     "#third_party",
     "#cereal",
@@ -352,7 +349,7 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
 
 SConscript(['selfdrive/common/SConscript'])
 Import('_common', '_gpucommon', '_gpu_libs')
@@ -387,7 +384,7 @@ rednose_config = {
   },
 }
 
-if arch != "aarch64":
+if arch not in ["aarch64", "larch64"]:
   rednose_config['to_build'].update({
     'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
     'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -351,14 +351,17 @@ struct CarControl {
 
     enum AudibleAlert {
       none @0;
-      chimeEngage @1;
-      chimeDisengage @2;
-      chimeError @3;
-      chimeWarning1 @4; # unused
-      chimeWarningRepeat @5;
-      chimeWarningRepeatInfinite @6;
-      chimePrompt @7;
-      chimeWarning2RepeatInfinite @8;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
     }
   }
 
@@ -379,6 +382,7 @@ struct CarParams {
   enableDsu @5 :Bool;        # driving support unit
   enableApgs @6 :Bool;       # advanced parking guidance system
   enableBsm @56 :Bool;       # blind spot monitoring
+  flags @64 :UInt32;         # flags for car specific quirks
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
@@ -442,6 +446,8 @@ struct CarParams {
   fingerprintSource @49: FingerprintSource;
   networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
 
+  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
+
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
     safetyParam @1 :Int16;
@@ -520,7 +526,7 @@ struct CarParams {
     allOutput @17;
     gmAscm @18;
     noOutput @19;  # like silent but without silent CAN TXs
-    hondaBoschHarness @20;
+    hondaBosch @20;
     volkswagenPq @21;
     subaruLegacy @22;  # pre-Global platform
     hyundaiLegacy @23;

diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -611,6 +611,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     delta @8 :Float32;
     output @9 :Float32;
     saturated @10 :Bool;
+    steeringAngleDesiredDeg @11 :Float32;
+    steeringRateDesiredDeg @12 :Float32;
   }
 
   struct LateralPIDState {
@@ -623,6 +625,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     f @6 :Float32;
     output @7 :Float32;
     saturated @8 :Bool;
+    steeringAngleDesiredDeg @9 :Float32;
    }
 
   struct LateralLQRState {
@@ -632,13 +635,15 @@ struct ControlsState @0x97ff69c53601abf1 {
     output @3 :Float32;
     lqrOutput @4 :Float32;
     saturated @5 :Bool;
+    steeringAngleDesiredDeg @6 :Float32;
   }
 
   struct LateralAngleState {
     active @0 :Bool;
     steeringAngleDeg @1 :Float32;
     output @2 :Float32;
     saturated @3 :Bool;
+    steeringAngleDesiredDeg @4 :Float32;
   }
 
   struct LateralDebugState {
@@ -1480,6 +1485,7 @@ struct Event {
     # navigation
     navInstruction @82 :NavInstruction;
     navRoute @83 :NavRoute;
+    navThumbnail @84: Thumbnail;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;

diff --git a/cereal/services.py b/cereal/services.py
@@ -64,6 +64,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 0.),
   "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
 
   # debug
   "testJoystick": (False, 0.),

diff --git a/cereal/visionipc/visionbuf.h b/cereal/visionipc/visionbuf.h
@@ -15,9 +15,9 @@ enum VisionStreamType {
   VISION_STREAM_RGB_BACK,
   VISION_STREAM_RGB_FRONT,
   VISION_STREAM_RGB_WIDE,
-  VISION_STREAM_YUV_BACK,
-  VISION_STREAM_YUV_FRONT,
-  VISION_STREAM_YUV_WIDE,
+  VISION_STREAM_ROAD,
+  VISION_STREAM_DRIVER,
+  VISION_STREAM_WIDE_ROAD,
   VISION_STREAM_RGB_MAP,
   VISION_STREAM_MAX,
 };

diff --git a/cereal/visionipc/visionipc_client.cc b/cereal/visionipc/visionipc_client.cc
@@ -55,7 +55,7 @@ bool VisionIpcClient::connect(bool blocking){
   VisionBuf bufs[VISIONIPC_MAX_FDS];
   r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
 
-  assert(num_buffers > 0);
+  assert(num_buffers >= 0);
   assert(r == sizeof(VisionBuf) * num_buffers);
 
   // Import buffers

diff --git a/cereal/visionipc/visionipc_pyx.pyx b/cereal/visionipc/visionipc_pyx.pyx
@@ -19,9 +19,9 @@ cpdef enum VisionStreamType:
   VISION_STREAM_RGB_BACK
   VISION_STREAM_RGB_FRONT
   VISION_STREAM_RGB_WIDE
-  VISION_STREAM_YUV_BACK
-  VISION_STREAM_YUV_FRONT
-  VISION_STREAM_YUV_WIDE
+  VISION_STREAM_ROAD
+  VISION_STREAM_DRIVER
+  VISION_STREAM_WIDE_ROAD
 
 
 cdef class VisionIpcServer: