openpilot v0.8.1 release

muhammetardayildiz · Dec 18, 2020 · 22a4193 · 22a4193
1 parent 29d9e1c
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diff --git a/.gitignore b/.gitignore
@@ -53,6 +53,7 @@ one
 openpilot
 notebooks
 xx
+hyperthneed
 panda_jungle
 apks
 openpilot-apks
@@ -66,3 +67,4 @@ pandaextra
 flycheck_*
 
 cppcheck_report.txt
+comma.sh
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -2,7 +2,7 @@
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
 
-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
+Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
 
 ## Getting Started
 
@@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https
 
 ## Testing
 
-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
-
 ### Automated Testing
 
-All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.
+All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
 
 ### Code Style and Linting
 
-Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
 
 ## Car Ports (openpilot)
 
 We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
 
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty.
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
 
 ## Pull Requests
 
@@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
 ```
 Or alternatively, when on the master branch:
 ```
-git submodule init
-git submodule update
+git submodule update --init
 ```
 The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
 Modules that are in seperate repositories include:
-* apks
 * cereal
 * laika
 * opendbc

diff --git a/Jenkinsfile b/Jenkinsfile
@@ -124,15 +124,15 @@ pipeline {
  stage('Replay Tests') {
  steps {
  phone_steps("eon2", [
- ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+ ["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
  ])
  }
  }
 
  stage('HW + Unit Tests') {
  steps {
  phone_steps("eon", [
- ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+ ["build", "SCONS_CACHE=1 scons -j4"],
  ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
  ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
  ["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],

diff --git a/README.md b/README.md
@@ -64,27 +64,27 @@ Supported Cars
 
 | Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
+| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
 | Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
 | Acura | RDX 2020 | 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 Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
 | Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
 | Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
 | Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
 | Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
 | 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 | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
 | Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
 | Honda | Inspire 2018 | All | 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 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
 | Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
-| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
-| Hyundai | Sonata 2020  | All | Stock | 0mph | 0mph |
+| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph  |
+| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
 | Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
 | Lexus | ES 2019-20 | All | openpilot | 0mph | 0mph |
 | Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
@@ -93,11 +93,12 @@ Supported Cars
 | Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
 | Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
 | Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
-| Lexus | RX 2020  | All | openpilot | 0mph | 0mph |
+| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
 | Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
 | Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
 | Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
 | Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
+| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
 | Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
 | Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
 | Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
@@ -106,9 +107,9 @@ Supported Cars
 | Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
 | Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
 | Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
-| Toyota | Highlander 2020  | All | openpilot | 0mph | 0mph |
+| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
 | Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
-| Toyota | Highlander Hybrid 2020  | All | openpilot | 0mph | 0mph |
+| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
 | Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
 | Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
 | Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
@@ -143,7 +144,8 @@ Community Maintained Cars and Features
 | Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
 | Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
 | Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
-| Hyundai | Ioniq Electric 2019-20 | SCC + LKAS | Stock | 0mph | 32mph |
+| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
+| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
 | Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
 | Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
 | Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
@@ -162,7 +164,7 @@ Community Maintained Cars and Features
 | 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 |
+| Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
 | Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
 | Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
 

diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,13 @@
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
 Version 0.8.0 (2020-11-30)
 ========================
  * New driving model: fully 3D and improved cut-in detection

diff --git a/SConstruct b/SConstruct
@@ -1,12 +1,10 @@
-import Cython
-import distutils
 import os
 import shutil
 import subprocess
 import sys
+import sysconfig
 import platform
 import numpy as np
-from sysconfig import get_paths
 
 TICI = os.path.isfile('/TICI')
 Decider('MD5-timestamp')
@@ -19,10 +17,6 @@ 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')
-
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
@@ -130,10 +124,6 @@ else:
 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path
 
-#Get the path for Python.h for cython linking
-python_path = get_paths()['include']
-numpy_path = np.get_include()
-
 env = Environment(
  ENV=lenv,
  CCFLAGS=[
@@ -188,30 +178,27 @@ env = Environment(
  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
  "#cereal",
+ "#phonelibs",
+ "#opendbc/can",
  "#selfdrive/boardd",
  "#selfdrive/common",
- "#phonelibs",
  ],
  CYTHONCFILESUFFIX=".cpp",
- tools=["default", "cython"]
+ COMPILATIONDB_USE_ABSPATH=True,
+ tools=["default", "cython", "compilation_db"],
 )
 
+if GetOption('test'):
+ env.CompilationDatabase('compile_commands.json')
+
 if os.environ.get('SCONS_CACHE'):
  cache_dir = '/tmp/scons_cache'
-
- if os.getenv('CI'):
- branch = os.getenv('GIT_BRANCH')
-
- if QCOM_REPLAY:
- cache_dir = '/tmp/scons_cache_qcom_replay'
- elif branch is not None and branch != 'master':
- cache_dir_branch = '/tmp/scons_cache_' + branch
- if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
- shutil.copytree(cache_dir, cache_dir_branch)
- cache_dir = cache_dir_branch
- elif TICI:
+ if TICI:
  cache_dir = '/data/scons_cache'
 
+ if QCOM_REPLAY:
+ cache_dir = '/tmp/scons_cache_qcom_replay'
+
  CacheDir(cache_dir)
 
 node_interval = 5
@@ -235,22 +222,20 @@ def abspath(x):
  # rpath works elsewhere
  return x[0].path.rsplit("/", 1)[1][:-3]
 
-#Cython build enviroment
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
-envCython["CPPPATH"] += [python_path, numpy_path]
+envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
 
-python_libs = []
+envCython["LIBS"] = []
 if arch == "Darwin":
- envCython["LINKFLAGS"]=["-bundle", "-undefined", "dynamic_lookup"]
+ envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
 elif arch == "aarch64":
- envCython["LINKFLAGS"]=["-shared"]
-
- python_libs.append(os.path.basename(python_path))
+ envCython["LINKFLAGS"] = ["-shared"]
+ envCython["LIBS"] = [os.path.basename(py_include)]
 else:
- envCython["LINKFLAGS"]=["-pthread", "-shared"]
-
-envCython["LIBS"] = python_libs
+ envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
 Export('envCython')
 
@@ -311,3 +296,4 @@ if arch != "Darwin":
 
 if arch == "x86_64":
  SConscript(['tools/lib/index_log/SConscript'])
+
diff --git a/cereal/.gitignore b/cereal/.gitignore
@@ -1,6 +1,7 @@
 gen
 node_modules
 package-lock.json
+*.tmp
 *.pyc
 __pycache__
 .*.swp

diff --git a/cereal/SConscript b/cereal/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'arch', 'zmq', 'cython_dependencies')
+Import('env', 'envCython', 'arch', 'zmq')
 
 import shutil
 
@@ -55,11 +55,7 @@ Depends('messaging/bridge.cc', services_h)
 # different target?
 #env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
 
-
-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")
-
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
 
 if GetOption('test'):
  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -101,6 +101,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  fanMalfunction @91;
  cameraMalfunction @92;
 
+ startupOneplus @82;
+
  gasUnavailableDEPRECATED @3;
  dataNeededDEPRECATED @16;
  modelCommIssueDEPRECATED @27;
@@ -112,8 +114,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  invalidGiraffeHondaDEPRECATED @49;
  invalidGiraffeToyotaDEPRECATED @60;
  whitePandaUnsupportedDEPRECATED @81;
- startupGreyPandaDEPRECATED @82;
- canErrorPersistentDEPRECATED @83;
+ commIssueWarningDEPRECATED @83;
  focusRecoverActiveDEPRECATED @86;
  neosUpdateRequiredDEPRECATED @88;
  modelLagWarningDEPRECATED @93;
@@ -398,6 +399,9 @@ struct CarParams {
  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
  steerControlType @34 :SteerControlType;
  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+ minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+ stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
+ startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
 
  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?

diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -49,6 +49,8 @@ struct InitData {
  neo @1;
  chffrAndroid @2;
  chffrIos @3;
+ tici @4;
+ pc @5;
  }
 
  struct AndroidBuildInfo {
@@ -629,6 +631,7 @@ struct ModelData {
  frameDropPerc @13 :Float32;
  timestampEof @9 :UInt64;
  modelExecutionTime @14 :Float32;
+ gpuExecutionTime @16 :Float32;
  rawPred @15 :Data;
 
  path @1 :PathData;
@@ -697,6 +700,7 @@ struct ModelDataV2 {
  frameDropPerc @2 :Float32;
  timestampEof @3 :UInt64;
  modelExecutionTime @15 :Float32;
+ gpuExecutionTime @17 :Float32;
  rawPred @16 :Data;
 
  position @4 :XYZTData;
@@ -1952,6 +1956,7 @@ struct OrbKeyFrame {
 struct DriverState {
  frameId @0 :UInt32;
  modelExecutionTime @14 :Float32;
+ dspExecutionTime @16 :Float32;
  rawPred @15 :Data;
 
  descriptorDEPRECATED @1 :List(Float32);