openpilot v0.8.3 release

muhammetardayildiz · Mar 29, 2021 · 55c44bf · 55c44bf
1 parent aed724b
commit 55c44bf
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Showing 264 changed files with 5,145 additions and 6,428 deletions.
diff --git a/.gitignore b/.gitignore
@@ -48,6 +48,7 @@ selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
@@ -58,8 +59,6 @@ notebooks
 xx
 hyperthneed
 panda_jungle
-apks
-openpilot-apks
 
 .coverage*
 coverage.xml
@@ -70,7 +69,7 @@ pandaextra
 flycheck_*
 
 cppcheck_report.txt
-comma.sh
+comma*.sh
 
 selfdrive/modeld/thneed/compile
 models/*.thneed
diff --git a/Jenkinsfile b/Jenkinsfile
@@ -1,5 +1,5 @@
 def phone(String ip, String step_label, String cmd) {
- withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
+ 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'
 
@@ -11,6 +11,9 @@ export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 
 source ~/.bash_profile
+if [ -f /TICI ]; then
+ source /etc/profile
+fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
@@ -126,12 +129,10 @@ pipeline {
  phone_steps("eon-build", [
  ["build", "SCONS_CACHE=1 scons -j4"],
  ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
- ["test manager", "python selfdrive/test/test_manager.py"],
+ ["test manager", "python selfdrive/manager/test/test_manager.py"],
  ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
  ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
  ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
- ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
- ["test text window build", "cd selfdrive/ui/text && make clean && make"],
  ])
  }
  }
@@ -153,7 +154,6 @@ pipeline {
  ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
  ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
  ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
- ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
  ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
  //["test updater", "python installer/updater/test_updater.py"],
  ])
@@ -169,12 +169,31 @@ pipeline {
  ["build", "SCONS_CACHE=1 scons -j16"],
  ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
  ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
- ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
  //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
  ])
  }
  }
 
+ stage('camerad') {
+ steps {
+ phone_steps("eon-party", [
+ ["build", "SCONS_CACHE=1 scons -j16"],
+ ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+ ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+ ])
+ }
+ }
+
+ stage('Tici camerad') {
+ steps {
+ phone_steps("tici-party", [
+ ["build", "SCONS_CACHE=1 scons -j16"],
+ ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+ ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+ ])
+ }
+ }
+
  }
  }
  }

diff --git a/README.md b/README.md
@@ -66,7 +66,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | 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 |
+| Acura | RDX 2020-21 | All | Stock | 0mph | 3mph |
 | Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
 | Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
 | Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
@@ -82,7 +82,7 @@ Supported Cars
 | 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 |
+| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
 | Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
 | Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
 | Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
@@ -97,7 +97,7 @@ Supported Cars
 | 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, 2021 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
+| Toyota | Avalon 2016-18, 2020-21  | 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 |
@@ -161,19 +161,34 @@ Community Maintained Cars and Features
 | Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
 | Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
 | Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
+| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
 | Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
 | Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
+| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
 | Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph |
 | Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
 | Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
 | Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
+| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
+| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
+| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
+| Škoda | Superb 2018 | Driver Assistance | Stock | 0mph | 0mph |
 | Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
 | Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
 | Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
 | Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
+| Volkswagen| e-Golf 2014, 2020 | Driver Assistance | Stock | 0mph | 0mph |
 | Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Jetta 2018-21 | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
+| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
 
 <sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
 
 Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
 
@@ -310,7 +325,6 @@ And [follow us on Twitter](https://twitter.com/comma_ai).
 Directory Structure
 ------
  .
- ├── apk # The apk files used for the UI
  ├── cereal # The messaging spec and libs used for all logs
  ├── common # Library like functionality we've developed here
  ├── installer/updater # Manages auto-updates of openpilot

diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,17 @@
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+ * Trained on new diverse dataset from 2000+ users from 30+ countries
+ * Trained with improved segnet from the comma-pencil community project
+ * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
 Version 0.8.2 (2021-02-26)
 ========================
  * Use model points directly in MPC (no more polyfits), making lateral planning more accurate

diff --git a/SConstruct b/SConstruct
@@ -263,60 +263,69 @@ else:
 Export('envCython')
 
 # Qt build environment
-qt_env = None
-if arch in ["x86_64", "Darwin", "larch64"]:
- qt_env = env.Clone()
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets"]
+if arch != "aarch64":
+ qt_modules += ["DBus"]
 
- qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network", "Concurrent", "WebEngine", "WebEngineWidgets"]
+qt_libs = []
+if arch == "Darwin":
+ qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+ qt_dirs = [
+ os.path.join(qt_env['QTDIR'], "include"),
+ ]
+ qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+ qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+ qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+elif arch == "aarch64":
+ qt_env['QTDIR'] = "/system/comma/usr"
+ qt_dirs = [
+ f"/system/comma/usr/include/qt",
+ ]
+ qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
 
- qt_libs = []
- if arch == "Darwin":
- qt_env['QTDIR'] = "/usr/local/opt/qt"
- QT_BASE = "/usr/local/opt/qt/"
- qt_dirs = [
- QT_BASE + "include/",
- ]
- qt_dirs += [f"{QT_BASE}include/Qt{m}" for m in qt_modules]
- qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
- qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
- else:
- qt_env['QTDIR'] = "/usr"
- qt_dirs = [
- f"/usr/include/{real_arch}-linux-gnu/qt5",
- f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
- f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
- ]
- qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
-
- qt_libs = [f"Qt5{m}" for m in qt_modules]
- if arch == "larch64":
- qt_libs += ["GLESv2", "wayland-client"]
- elif arch != "Darwin":
- qt_libs += ["GL"]
-
- qt_env.Tool('qt')
- qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
- qt_flags = [
- "-D_REENTRANT",
- "-DQT_NO_DEBUG",
- "-DQT_WIDGETS_LIB",
- "-DQT_GUI_LIB",
- "-DQT_CORE_LIB"
+ qt_libs = [f"Qt5{m}" for m in qt_modules]
+ qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+ qt_env['QTDIR'] = "/usr"
+ qt_dirs = [
+ f"/usr/include/{real_arch}-linux-gnu/qt5",
+ f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
  ]
- qt_env['CXXFLAGS'] += qt_flags
- qt_env['LIBPATH'] += ['#selfdrive/ui']
- qt_env['LIBS'] = qt_libs
-
- if GetOption("clazy"):
- checks = [
- "level0",
- "level1",
- "no-range-loop",
- "no-non-pod-global-static",
- ]
- qt_env['CXX'] = 'clazy'
- qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
- qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+ qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+
+ qt_libs = [f"Qt5{m}" for m in qt_modules]
+ if arch == "larch64":
+ qt_libs += ["GLESv2", "wayland-client"]
+ elif arch != "Darwin":
+ qt_libs += ["GL"]
+
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+ "-D_REENTRANT",
+ "-DQT_NO_DEBUG",
+ "-DQT_WIDGETS_LIB",
+ "-DQT_GUI_LIB",
+ "-DQT_QUICK_LIB",
+ "-DQT_QUICKWIDGETS_LIB",
+ "-DQT_QML_LIB",
+ "-DQT_CORE_LIB"
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+ checks = [
+ "level0",
+ "level1",
+ "no-range-loop",
+ "no-non-pod-global-static",
+ ]
+ qt_env['CXX'] = 'clazy'
+ qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+ qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 Export('qt_env')
 
 
@@ -351,6 +360,7 @@ Export('common', 'gpucommon', 'visionipc')
 # Build openpilot
 
 SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
 SConscript(['opendbc/can/SConscript'])
 
 SConscript(['phonelibs/SConscript'])
@@ -383,7 +393,6 @@ if arch != "Darwin":
 
 if real_arch == "x86_64":
  SConscript(['tools/nui/SConscript'])
- SConscript(['tools/lib/index_log/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:

diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -99,8 +99,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  fanMalfunction @91;
  cameraMalfunction @92;
  gpsMalfunction @94;
- startupOneplus @82;
  processNotRunning @95;
+ dashcamMode @96;
 
  radarCanErrorDEPRECATED @15;
  radarCommIssueDEPRECATED @67;
@@ -120,6 +120,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  focusRecoverActiveDEPRECATED @86;
  neosUpdateRequiredDEPRECATED @88;
  modelLagWarningDEPRECATED @93;
+ startupOneplusDEPRECATED @82;
  }
 }
 
@@ -372,11 +373,11 @@ struct CarParams {
  brakeMaxV @16 :List(Float32);
 
  # things about the car in the manual
- mass @17 :Float32;  # [kg] running weight
- wheelbase @18 :Float32;  # [m] distance from rear to front axle
- centerToFront @19 :Float32; # [m] GC distance to front axle
- steerRatio @20 :Float32;  # [] ratio between front wheels and steering wheel angles
- steerRatioRear @21 :Float32; # [] rear steering ratio wrt front steering (usually 0)
+ mass @17 :Float32; # [kg] curb weight: all fluids no cargo
+ wheelbase @18 :Float32; # [m] distance from rear axle to front axle
+ centerToFront @19 :Float32; # [m] distance from center of mass to front axle
+ steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
+ steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
 
  # things we can derive
  rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia

diff --git a/cereal/legacy.capnp b/cereal/legacy.capnp
@@ -21,6 +21,21 @@ struct LiveUI @0xc08240f996aefced {
  awarenessStatus @3 :Float32;
 }
 
+struct UiLayoutState @0x88dcce08ad29dda0 {
+ activeApp @0 :App;
+ sidebarCollapsed @1 :Bool;
+ mapEnabled @2 :Bool;
+ mockEngaged @3 :Bool;
+
+ enum App @0x9917470acf94d285 {
+ home @0;
+ music @1;
+ nav @2;
+ settings @3;
+ none @4;
+ }
+}
+
 struct OrbslamCorrection @0x8afd33dc9b35e1aa {
  correctionMonoTime @0 :UInt64;
  prePositionECEF @1 :List(Float64);