openpilot v0.8.15 release

date: 2022-07-14T00:06:12
master commit: 5a7c2f9

.gitignore

@@ -41,16 +41,14 @@ board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
+system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

Jenkinsfile

@@ -10,6 +10,7 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
@@ -42,8 +43,10 @@ def phone_steps(String device_type, steps) {
 pipeline {
  agent none
  environment {
+ CI = "1"
  TEST_DIR = "/data/openpilot"
  SOURCE_DIR = "/data/openpilot_source/"
+ AZURE_TOKEN = credentials('azure_token')
  }
  options {
  timeout(time: 4, unit: 'HOURS')
@@ -74,72 +77,88 @@ pipeline {
  }
  }
 
- stages {
- stage('On-device Tests') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- stages {
- stage('parallel tests') {
- parallel {
- stage('build') {
- environment {
- R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
- }
- steps {
- phone_steps("tici", [
- ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
- ["build openpilot", "cd selfdrive/manager && ./build.py"],
- ["test manager", "python selfdrive/manager/test/test_manager.py"],
- ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
- ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
- ])
- }
- }
-
- stage('HW + Unit Tests') {
- steps {
- phone_steps("tici2", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
- ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
- ["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 sensord", "python selfdrive/sensord/test/test_sensord.py"],
- ])
- }
- }
-
- stage('camerad') {
- steps {
- phone_steps("tici-party", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
- ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
- ])
- }
- }
-
- stage('replay') {
- steps {
- phone_steps("tici3", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
- ])
- }
- }
-
- }
+ parallel {
+
+ stage('simulator') {
+ agent {
+ dockerfile {
+ filename 'Dockerfile.sim_nvidia'
+ dir 'tools/sim'
+ args '--user=root'
+ }
+ }
+ steps {
+ sh "git config --global --add safe.directory ${WORKSPACE}"
+ sh "git lfs pull"
+ lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
+ sh "${WORKSPACE}/tools/sim/build_container.sh"
+ sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
+ sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
  }
  }
 
  post {
  always {
- cleanWs()
+ sh "docker kill carla_sim || true"
+ sh "rm -rf ${WORKSPACE}/* || true"
+ sh "rm -rf .* || true"
  }
  }
+ }
+
+ stage('build') {
+ agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+ environment {
+ R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+ }
+ steps {
+ phone_steps("tici", [
+ ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+ ["build openpilot", "cd selfdrive/manager && ./build.py"],
+ ["check dirty", "release/check-dirty.sh"],
+ ["test manager", "python selfdrive/manager/test/test_manager.py"],
+ ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+ ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+ ])
+ }
+ }
+
+ stage('HW + Unit Tests') {
+ agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+ steps {
+ phone_steps("tici2", [
+ ["build", "cd selfdrive/manager && ./build.py"],
+ ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+ ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+ ["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 sensord", "python selfdrive/sensord/test/test_sensord.py"],
+ ])
+ }
+ }
 
+ stage('camerad') {
+ agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+ steps {
+ phone_steps("tici-party", [
+ ["build", "cd selfdrive/manager && ./build.py"],
+ ["test camerad", "python system/camerad/test/test_camerad.py"],
+ ["test exposure", "python system/camerad/test/test_exposure.py"],
+ ])
+ }
  }
 
+ stage('replay') {
+ agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+ steps {
+ phone_steps("tici3", [
+ ["build", "cd selfdrive/manager && ./build.py"],
+ ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+ ])
+ }
+ }
  }
+
  }
  }
 }

README.md

@@ -35,16 +35,17 @@ What is openpilot?
 </table>
 
 
-Running in a car
+Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* This software. It's free and available right here.
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
+* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
+The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
 * 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: a [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 three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With a PC, you also need a [black panda](https://comma.ai/shop/products/panda).
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
-We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
+We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 Running on PC
 ------
@@ -55,6 +56,7 @@ With openpilot's tools you can plot logs, replay drives and watch the full-res c
 
 You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
 
+A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
 
 Community and Contributing
 ------
@@ -102,20 +104,25 @@ Directory Structure
  ├── panda # Code used to communicate on CAN
  ├── third_party # External libraries
  ├── pyextra # Extra python packages
+ └── system # Generic services
+  ├── camerad # Driver to capture images from the camera sensors
+  ├── clocksd # Broadcasts current time
+  ├── hardware # Hardware abstraction classes
+  ├── logcatd # systemd journal as a service
+  └── proclogd # Logs information from /proc
  └── selfdrive # Code needed to drive the car
   ├── assets # Fonts, images, and sounds for UI
   ├── athena # Allows communication with the app
   ├── boardd # Daemon to talk to the board
-  ├── camerad # Driver to capture images from the camera sensors
   ├── car # Car specific code to read states and control actuators
-  ├── common # Shared C/C++ code for the daemons
   ├── controls # Planning and controls
   ├── debug # Tools to help you debug and do car ports
   ├── locationd # Precise localization and vehicle parameter estimation
-  ├── logcatd # Android logcat as a service
   ├── loggerd # Logger and uploader of car data
+  ├── manager # Deamon that starts/stops all other daemons as needed
   ├── modeld # Driving and monitoring model runners
-  ├── proclogd # Logs information from proc
+  ├── monitoring # Daemon to determine driver attention
+  ├── navd # Turn-by-turn navigation
   ├── sensord # IMU interface code
   ├── test # Unit tests, system tests, and a car simulator
   └── ui # The UI

RELEASES.md

@@ -1,3 +1,38 @@
+Version 0.8.15 (2022-07-20)
+========================
+* New driving model
+ * Path planning uses end-to-end output instead of lane lines at all times
+ * Reduced ping pong
+ * Improved lane centering
+* New lateral controller based on physical wheel torque model
+ * Much smoother control that's consistent across the speed range
+ * Effective feedforward that uses road roll
+ * Simplified tuning, all car-specific parameters can be derived from data
+ * Used on select Toyota and Hyundai models at first
+ * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+ * Bigger model, covering full interior view from driver camera
+ * Works with a wider variety of mounting angles
+ * 3x more unique comma three training data than previous
+* Navigation improvements
+ * Speed limits shown while navigating
+ * Faster position fix by using raw GPS measurements
+* UI updates
+ * Multilanguage support for settings and home screen
+ * New font
+ * Refreshed max speed design
+ * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
+* AGNOS 5
+ * Support VSCode remote SSH target
+ * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
+* Honda Civic 2022 support
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
+
 Version 0.8.14 (2022-06-01)
 ========================
  * New driving model