openpilot v0.7.8 release

muhammetardayildiz · Aug 13, 2020 · 0aa4867 · 0aa4867
1 parent f370bf5
commit 0aa4867
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diff --git a/Jenkinsfile b/Jenkinsfile
@@ -1,33 +1,60 @@
-pipeline {
- agent {
- docker {
- image 'python:3.7.3'
- args '--user=root'
+def phone(String ip, String step_label, String cmd) {
+ def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
+
+ withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
+ sh label: step_label,
+ script: """
+ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
+echo \$\$ > /dev/cpuset/app/tasks || true
+echo \$PPID > /dev/cpuset/app/tasks || true
+mkdir -p /dev/shm
+chmod 777 /dev/shm
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+EOF"""
+ }
+}
+
+def phone_steps(String device_type, steps) {
+ lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+ timeout(time: 60, unit: 'MINUTES') {
+ phone(device_ip, "kill old processes", "pkill -f comma || true")
+ phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+ steps.each { item ->
+ phone(device_ip, item[0], item[1])
+ }
  }
  }
+}
+
+pipeline {
+ agent none
  environment {
  COMMA_JWT = credentials('athena-test-jwt')
+ TEST_DIR = "/data/openpilot"
  }
 
  stages {
 
  stage('Release Build') {
+ agent {
+ docker {
+ image 'python:3.7.3'
+ args '--user=root'
+ }
+ }
  when {
  branch 'devel-staging'
  }
  steps {
- lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
- timeout(time: 60, unit: 'MINUTES') {
- dir(path: 'selfdrive/test') {
- sh 'pip install paramiko'
- sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
- }
- }
- }
+ phone_steps("eon-build", [
+ ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+ ])
  }
  }
 
- stage('On-device Tests') {
+ stage('openpilot tests') {
  when {
  not {
  anyOf {
@@ -36,48 +63,80 @@ pipeline {
  }
  }
 
- parallel {
 
- stage('Build') {
- environment {
- CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}"
- }
+ stages {
 
- steps {
- lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
- timeout(time: 60, unit: 'MINUTES') {
- dir(path: 'selfdrive/test') {
- sh 'pip install paramiko'
- sh 'python phone_ci.py "cd release && ./build_devel.sh"'
- }
+ /*
+ stage('PC tests') {
+ agent {
+ dockerfile {
+ filename 'Dockerfile.openpilot'
+ 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('Replay Tests') {
- steps {
- lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
- timeout(time: 60, unit: 'MINUTES') {
- dir(path: 'selfdrive/test') {
- sh 'pip install paramiko'
- sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
- }
- }
+ stage('On-device Tests') {
+ agent {
+ docker {
+ image 'python:3.7.3'
+ args '--user=root'
  }
  }
- }
 
- stage('HW Tests') {
- steps {
- lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
- timeout(time: 60, unit: 'MINUTES') {
- dir(path: 'selfdrive/test') {
- sh 'pip install paramiko'
- sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \
- nosetests -s selfdrive/test/test_sounds.py && \
- nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"'
+ stages {
+ stage('parallel tests') {
+ parallel {
+
+ stage('Devel Build') {
+ environment {
+ CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
+ }
+ steps {
+ phone_steps("eon", [
+ ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
+ ["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
+ ["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
+ ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+ ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
+ ["test text window build", "cd selfdrive/ui/text && make clean && make"],
+ ])
+ }
+ }
+
+ stage('Replay Tests') {
+ steps {
+ phone_steps("eon2", [
+ ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+ ])
+ }
  }
+
+ stage('HW + Unit Tests') {
+ steps {
+ phone_steps("eon", [
+ ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+ ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
+ ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
+ //["test updater", "python installer/updater/test_updater.py"],
+ ])
+ }
+ }
+
  }
  }
  }

diff --git a/README.md b/README.md
@@ -66,7 +66,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
 | Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
-| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
+| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
 | Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
 | Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
 | Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
@@ -76,7 +76,7 @@ Supported Cars
 | Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
 | Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
 | Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
-| Honda | Insight 2019  | Honda Sensing | Stock | 0mph | 3mph |
+| Honda | Insight 2019-20 | Honda Sensing | Stock | 0mph | 3mph |
 | Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
 | Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
 | Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
@@ -136,6 +136,7 @@ Community Maintained Cars and Features
 | Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
 | Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
 | Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
+| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
 | Genesis | G80 2018 | All | Stock | 0mph | 0mph |
 | Genesis | G90 2018 | All | Stock | 0mph | 0mph |
 | GMC | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
@@ -144,21 +145,22 @@ Community Maintained Cars and Features
 | Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
 | Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph |
 | Hyundai | Ioniq Electric Limited 2019 | SCC + LKAS | Stock | 0mph | 32mph |
-| Hyundai | Kona 2017-19 | SCC + LKAS | Stock | 22mph | 0mph |
+| Hyundai | Kona 2020  | SCC + LKAS | Stock | 0mph  | 0mph |
 | Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
 | Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
 | Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
 | Hyundai | Sonata 2019 | All | Stock | 0mph | 0mph |
+| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
 | Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
 | Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
 | Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
 | Kia | Optima 2017 | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
 | Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
 | Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
 | Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
-| Nissan | Leaf 2018-19<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
-| Nissan | Rogue 2019<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
-| Nissan | X-Trail 2017<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
+| Nissan | Leaf 2018-19  | Propilot | Stock | 0mph | 0mph |
+| Nissan | Rogue 2019  | Propilot | Stock | 0mph | 0mph |
+| Nissan | X-Trail 2017  | Propilot | Stock | 0mph | 0mph |
 | Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
 | Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
 | Subaru | Forester 2019 | EyeSight | Stock | 0mph | 0mph |

diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,10 @@
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
 Version 0.7.7 (2020-07-20)
 ========================
  * White panda is no longer supported, upgrade to comma two or black panda

diff --git a/SConstruct b/SConstruct
@@ -1,3 +1,5 @@
+import Cython
+import distutils
 import os
 import shutil
 import subprocess
@@ -12,6 +14,10 @@ AddOption('--asan',
  action='store_true',
  help='turn on ASAN')
 
+# Rebuild cython extensions if python, distutils, or cython change
+cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
+Export('cython_dependencies')
+
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"

diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
diff --git a/cereal/SConscript b/cereal/SConscript
@@ -1,35 +1,34 @@
-Import('env', 'arch', 'zmq')
+Import('env', 'arch', 'zmq', 'cython_dependencies')
+
+import shutil
 
 gen_dir = Dir('gen')
 messaging_dir = Dir('messaging')
 
 # TODO: remove src-prefix and cereal from command string. can we set working directory?
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(
- ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
- ['car.capnp', 'log.capnp'],
- 'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
-import shutil
+env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
+ ['car.capnp', 'log.capnp'],
+ 'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
+
 if shutil.which('capnpc-java'):
- env.Command(
- ['gen/java/Car.java', 'gen/java/Log.java'],
- ['car.capnp', 'log.capnp'],
- 'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
+ env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
+ ['car.capnp', 'log.capnp'],
+ 'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
 
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([
-  'gen/cpp/car.capnp.c++',
-  'gen/cpp/log.capnp.c++',
- ])
+ 'gen/cpp/car.capnp.c++',
+ 'gen/cpp/log.capnp.c++',
+])
 
 env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
 
 cereal_dir = Dir('.')
-services_h = env.Command(
- ['services.h'],
- ['service_list.yaml', 'services.py'],
- 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+services_h = env.Command(['services.h'],
+ ['service_list.yaml', 'services.py'],
+ 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
 
 messaging_objects = env.SharedObject([
  'messaging/messaging.cc',
@@ -56,9 +55,9 @@ Depends('messaging/bridge.cc', services_h)
 #env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
 
 
-env.Command(['messaging/messaging_pyx.so'],
- [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
- "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
+env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
+  cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
+  "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
 
 
 if GetOption('test'):

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -112,6 +112,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  wrongCruiseMode @87;
  neosUpdateRequired @88;
  modeldLagging @89;
+ deviceFalling @90;
  }
 }
 
@@ -474,6 +475,7 @@ struct CarParams {
  volkswagenPq @21;
  subaruLegacy @22; # pre-Global platform
  hyundaiLegacy @23;
+ hyundaiCommunity @24;
  }
 
  enum SteerControlType {

diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -441,18 +441,22 @@ struct RadarState @0x9a185389d6fdd05f {
 struct LiveCalibrationData {
  # deprecated
  warpMatrix @0 :List(Float32);
+
  # camera_frame_from_model_frame
  warpMatrix2 @5 :List(Float32);
  warpMatrixBig @6 :List(Float32);
+
  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
+ validBlocks @9 :Int32;
 
  # view_frame_from_road_frame
  # ui's is inversed needs new
  extrinsicMatrix @4 :List(Float32);
  # the direction of travel vector in device frame
  rpyCalib @7 :List(Float32);
+ rpyCalibSpread @8 :List(Float32);
 }
 
 struct LiveTracks {
@@ -864,6 +868,7 @@ struct LiveLocationKalman {
  posenetOK @18 :Bool = true;
  gpsOK @19 :Bool = true;
  sensorsOK @21 :Bool = true;
+ deviceStable @22 :Bool = true;
 
  enum Status {
  uninitialized @0;

diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
@@ -122,13 +122,6 @@ def recv_one_retry(sock):
  if dat is not None:
  return log.Event.from_bytes(dat)
 
-# TODO: This does not belong in messaging
-def get_one_can(logcan):
- while True:
- can = recv_one_retry(logcan)
- if len(can.can) > 0:
- return can
-
 class SubMaster():
  def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
  self.poller = Poller()