Merge pull request #2 from commaai/release

Release

.gitignore

@@ -3,17 +3,19 @@
 .ipynb_checkpoints
 model2.png
 
+*.d
 *.pyc
+*.pyo
 .*.swp
 .*.swo
 .*.un~
 *.o
-*.d
 *.so
 *.a
 *.clb
 *.class
 *.pyxbldc
+*.vcd
 config.json
 clcache
 

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "panda"]
 	path = panda
 	url = https://github.com/commaai/panda.git
+[submodule "opendbc"]
+	path = opendbc
+	url = https://github.com/commaai/opendbc.git

README.md

@@ -7,6 +7,8 @@ Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Ke
 
 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
+Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
+
 Hardware
 ------
 
@@ -18,17 +20,20 @@ Supported Cars
 ------
 
 - Acura ILX 2016 with AcuraWatch Plus
-  - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
+  - Due to use of the cruise control for gas, it can only be enabled above 25 mph
 
 - Honda Civic 2016 with Honda Sensing
-  - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
+
+- Honda CR-V Touring 2015-2016 (very alpha!)
+  - Can only be enabled above 25 mph
 
 Directory structure
 ------
 
 - cereal        -- The messaging spec used for all logs on the phone
 - common        -- Library like functionality we've developed here
-- dbcs          -- Files showing how to interpret data from cars
+- opendbc       -- Files showing how to interpret data from cars
 - panda         -- Code used to communicate on CAN and LIN
 - phonelibs     -- Libraries used on the phone
 - selfdrive     -- Code needed to drive the car
@@ -66,11 +71,9 @@ More extensive testing infrastructure and simulation environments are coming soo
 Adding Car Support
 ------
 
-It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
-
-The Honda Accord uses different signaling for the steering and probably requires new hardware.
+comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
 
-Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
+CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
 
 User Data / chffr Account / Crash Reporting
 ------
@@ -91,7 +94,7 @@ We welcome both pull requests and issues on
 [github](http://github.com/commaai/openpilot). See the TODO file for a list of
 good places to start.
 
-Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
+Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
 
 Licensing
 ------

RELEASES.md

@@ -1,3 +1,13 @@
+Version 0.3.3  (2017-06-28)
+===========================
+  * Improved model trained on more data
+  * Alpha CR-V support thanks to energee and johnnwvs!
+  * Using the opendbc project for DBC files
+  * Minor performance improvements
+  * UI update thanks to pjlao307
+  * Power off button
+  * 6% more torque on the Civic
+
 Version 0.3.2  (2017-05-22)
 ===========================
   * Minor stability bugfixes

cereal/log.capnp

@@ -145,6 +145,7 @@ struct SensorEventData {
     magnetic @5 :SensorVec;
     orientation @6 :SensorVec;
     gyro @7 :SensorVec;
+    pressure @9 :SensorVec;
   }
   source @8 :SensorSource;
 
@@ -297,8 +298,8 @@ struct LiveTracks {
 struct Live100Data {
   canMonoTime @16 :UInt64;
   canMonoTimes @21 :List(UInt64);
-  l20MonoTime @17 :UInt64;
-  mdMonoTime @18 :UInt64;
+  l20MonoTimeDEPRECATED @17 :UInt64;
+  mdMonoTimeDEPRECATED @18 :UInt64;
 
   vEgo @0 :Float32;
   aEgoDEPRECATED @1 :Float32;

common/api/__init__.py

@@ -1,13 +1,15 @@
 import requests
 
+from selfdrive.version import version
+
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   backend = "https://api.commadotai.com/"
 
-  params['_version'] = "OPENPILOTv0.3"
-
   headers = {}
   if access_token is not None:
     headers['Authorization'] = "JWT "+access_token
 
+  headers['User-Agent'] = "openpilot-" + version
+
   return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
 

common/dbc.py

@@ -1,6 +1,6 @@
 import re
 import bitstring
-from binascii import hexlify
+import struct
 from collections import namedtuple
 
 def int_or_float(s):
@@ -36,6 +36,7 @@ def __init__(self, fn):
     for i in range(0, 64, 8):
       for j in range(7, -1, -1):
         self.bits.append(i+j)
+    self.bits_index = dict(zip(self.bits, range(64)))
 
     for l in self.txt:
       l = l.strip()
@@ -102,7 +103,7 @@ def encode(self, msg_id, dd):
         if s.is_little_endian:
           ss = s.start_bit
         else:
-          ss = self.bits.index(s.start_bit)
+          ss = self.bits_index[s.start_bit]
 
 
         if s.is_signed:
@@ -135,9 +136,6 @@ def decode(self, x, arr=None, debug=False):
         Returns (None, None) if the message could not be decoded.
     """
 
-    def swap_order(d, wsz=4, gsz=2 ):
-      return "".join(["".join([m[i:i+gsz] for i in range(wsz-gsz,-gsz,-gsz)]) for m in [d[i:i+wsz] for i in range(0,len(d),wsz)]])
-
     if arr is None:
       out = {}
     else:
@@ -156,22 +154,28 @@ def swap_order(d, wsz=4, gsz=2 ):
 
     blen = 8*len(x[2])
 
+    st = x[2].rjust(8, '\x00')
+    le, be = None, None
+
     for s in msg[1]:
       if arr is not None and s[0] not in arr:
         continue
 
       # big or little endian?
       #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
       if s[3] is False:
-        ss = self.bits.index(s[1])
-        x2_int = int(hexlify(x[2]), 16)
+        ss = self.bits_index[s[1]]
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        x2_int = be
         data_bit_pos = (blen - (ss + s[2]))
       else:
-        x2_int = int(swap_order(hexlify(x[2]), 16, 2), 16)
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        x2_int = le
         ss = s[1]
         data_bit_pos = ss
 
-
       if data_bit_pos < 0:
         continue
       ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)

common/fingerprints.py

@@ -12,6 +12,11 @@
   },
   "HONDA ACCORD 2016 TOURING": {
     1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
+  },
+  "HONDA CR-V 2016 TOURING": {
+    57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
+    # sent messages
+    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
   }
 }
 
@@ -121,8 +126,9 @@ def fingerprint(logcan):
       ret.steerKp, ret.steerKi = 12.0, 1.0
   elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
     ret.steerKp, ret.steerKi = 12.0, 1.0
+  elif candidate_cars[0] == "HONDA CR-V 2016 TOURING":
+    ret.steerKp, ret.steerKi = 6.0, 0.5
   else:
     raise ValueError("unsupported car %s" % candidate_cars[0])
 
   return ret
-

common/logging_extra.py

@@ -8,19 +8,22 @@
 from collections import OrderedDict
 from contextlib import contextmanager
 
+def json_handler(obj):
+  # if isinstance(obj, (datetime.date, datetime.time)):
+  #   return obj.isoformat()
+  return repr(obj)
+
+def json_robust_dumps(obj):
+  return json.dumps(obj, default=json_handler)
+
 class SwagFormatter(logging.Formatter):
   def __init__(self, swaglogger):
     logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
 
     self.swaglogger = swaglogger
     self.host = socket.gethostname()
 
-  def json_handler(self, obj):
-    # if isinstance(obj, (datetime.date, datetime.time)):
-    #   return obj.isoformat()
-    return repr(obj)
-
-  def format(self, record):
+  def format_dict(self, record):
     record_dict = OrderedDict()
 
     if isinstance(record.msg, dict):
@@ -50,9 +53,10 @@ def format(self, record):
     record_dict['threadName'] = record.threadName
     record_dict['created'] = record.created
 
-    # asctime = self.formatTime(record, self.datefmt)
+    return record_dict
 
-    return json.dumps(record_dict, default=self.json_handler)
+  def format(self, record):
+    return json_robust_dumps(self.format_dict(record))
 
 _tmpfunc = lambda: 0
 _srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)

common/realtime.py

@@ -1,42 +1,52 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
+import os
 import time
 import ctypes
 import platform
+import threading
 import subprocess
 import multiprocessing
-import os
 
-from ctypes.util import find_library
+from cffi import FFI
+ffi = FFI()
+ffi.cdef("""
 
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
 
-CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
-CLOCK_BOOTTIME = 7
+long syscall(long number, ...);
 
-class timespec(ctypes.Structure):
-  _fields_ = [
-    ('tv_sec', ctypes.c_long),
-    ('tv_nsec', ctypes.c_long),
-  ]
+"""
+)
+libc = ffi.dlopen(None)
 
-libc_name = find_library('c')
-libc = ctypes.CDLL(libc_name, use_errno=True)
+
+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
+CLOCK_BOOTTIME = 7
 
 if hasattr(libc, 'clock_gettime'):
-  libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
-  has_clock_gettime = True
-else:
-  has_clock_gettime = False
+  c_clock_gettime = libc.clock_gettime
 
-def clock_gettime(clk_id):
-  if not has_clock_gettime:
-    # hack. only for OS X < 10.12
-    return time.time()
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')
 
-  t = timespec()
-  if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
-    errno_ = ctypes.get_errno()
-    raise OSError(errno_, os.strerror(errno_))
-  return t.tv_sec + t.tv_nsec * 1e-9
+    ts = tlocal.ts
+
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
+else:
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
+    return time.time()
 
 def monotonic_time():
   return clock_gettime(CLOCK_MONOTONIC_RAW)
@@ -96,3 +106,6 @@ def monitor_time(self):
     self._frame += 1
     self._remaining = remaining
     return lagged
+
+if __name__ == "__main__":
+  print sec_since_boot()

common/testing.py

@@ -0,0 +1,9 @@
+import os
+from nose.tools import nottest
+
+def phone_only(x):
+  if os.path.isfile("/init.qcom.rc"):
+    return x
+  else:
+    return nottest(x)
+