openpilot v0.8.11 release

.gitignore

@@ -42,7 +42,6 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/_ui
-selfdrive/ui/_soundd
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
@@ -78,3 +77,7 @@ selfdrive/modeld/thneed/compile
 models/*.thneed
 
 *.bz2
+
+build/
+
+!**/.gitkeep

Jenkinsfile

@@ -37,7 +37,7 @@ EOF"""
 
 def phone_steps(String device_type, steps) {
   lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 150, unit: 'MINUTES') {
+    timeout(time: 60, unit: 'MINUTES') {
       phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
       steps.each { item ->
         phone(device_ip, item[0], item[1])
@@ -53,7 +53,7 @@ pipeline {
     SOURCE_DIR = "/data/openpilot_source/"
   }
   options {
-      timeout(time: 3, unit: 'HOURS')
+      timeout(time: 4, unit: 'HOURS')
   }
 
   stages {
@@ -145,10 +145,10 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
-                stage('Devel Tests') {
+                stage('C2: build') {
                   steps {
                     phone_steps("eon-build", [
-                      ["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && 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"],
@@ -157,7 +157,7 @@ pipeline {
                   }
                 }
 
-                stage('Replay Tests') {
+                stage('C2: replay') {
                   steps {
                     phone_steps("eon2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -166,7 +166,7 @@ pipeline {
                   }
                 }
 
-                stage('HW + Unit Tests') {
+                stage('C2: HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -201,29 +201,33 @@ pipeline {
                 }
                 */
 
-                stage('tici Build') {
+                stage('C3: build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
                   steps {
                     phone_steps("tici", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && 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('Unit Tests (tici)') {
+                stage('C3: HW + Unit Tests') {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.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"],
                     ])
                   }
                 }
 
-                stage('EON camerad') {
+                stage('C2: camerad') {
                   steps {
                     phone_steps("eon-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -233,7 +237,7 @@ pipeline {
                   }
                 }
 
-                stage('tici camerad') {
+                stage('C3: camerad') {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],

README.md

@@ -17,7 +17,7 @@ Table of Contents
 What is openpilot?
 ------
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration and limitations here](docs/INTEGRATION.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 <table>
   <tr>
@@ -61,6 +61,8 @@ Community and Contributing
 
 openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
 
+Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
+
 You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
 Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).

RELEASES.md

@@ -1,3 +1,17 @@
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
 Version 0.8.10 (2021-11-01)
 ========================
  * New driving model

SConstruct

@@ -13,9 +13,9 @@ AddOption('--test',
           action='store_true',
           help='build test files')
 
-AddOption('--setup',
+AddOption('--extras',
           action='store_true',
-          help='build setup and installer files')
+          help='build misc extras, like setup and installer files')
 
 AddOption('--kaitai',
           action='store_true',
@@ -68,6 +68,7 @@ lenv = {
   "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
 
   "ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
   "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
 }
 
@@ -181,12 +182,14 @@ env = Environment(
     "-O2",
     "-Wunused",
     "-Werror",
+    "-Wshadow",
     "-Wno-unknown-warning-option",
     "-Wno-deprecated-register",
     "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
+    "-Wno-error=unused-but-set-variable",
   ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
@@ -267,7 +270,7 @@ def abspath(x):
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 
 envCython["LIBS"] = []
 if arch == "Darwin":
@@ -429,6 +432,9 @@ SConscript(['selfdrive/ui/SConscript'])
 if arch != "Darwin":
   SConscript(['selfdrive/logcatd/SConscript'])
 
+if GetOption('test'):
+  SConscript('panda/tests/safety/SConscript')
+
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
   SConscript([external_sconscript])

cereal/car.capnp

@@ -104,6 +104,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     wideRoadCameraError @102;
     localizerMalfunction @103;
     highCpuUsage @105;
+    cruiseMismatch @106;
 
     driverMonitorLowAccDEPRECATED @68;
     radarCanErrorDEPRECATED @15;
@@ -150,6 +151,7 @@ struct CarState {
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
   brakePressed @6 :Bool;  # this is user pedal only
+  brakeHoldActive @38 :Bool;
 
   # steering wheel
   steeringAngleDeg @7 :Float32;
@@ -289,6 +291,8 @@ struct CarControl {
   active @7 :Bool;
 
   actuators @6 :Actuators;
+  roll @8 :Float32;
+  pitch @9 :Float32;
 
   cruiseControl @4 :CruiseControl;
   hudControl @5 :HUDControl;
@@ -350,11 +354,11 @@ struct CarControl {
       chimeEngage @1;
       chimeDisengage @2;
       chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
+      chimeWarning1 @4; # unused
+      chimeWarningRepeat @5;
+      chimeWarningRepeatInfinite @6;
       chimePrompt @7;
-      chimeWarning2Repeat @8;
+      chimeWarning2RepeatInfinite @8;
     }
   }
 

cereal/log.capnp

@@ -307,6 +307,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   chargingDisabled @18 :Bool;
   offroadPowerUsageUwh @23 :UInt32;
   carBatteryCapacityUwh @25 :UInt32;
+  powerDrawW @40 :Float32;
 
   # device thermals
   cpuTempC @26 :List(Float32);
@@ -315,11 +316,18 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   ambientTempC @30 :Float32;
   nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
+  pmicTempC @39 :List(Float32);
+  thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
 
   fanSpeedPercentDesired @10 :UInt16;
   screenBrightnessPercent @37 :Int8;
 
+  struct ThermalZone {
+    name @0 :Text;
+    temp @1 :Float32;
+  }
+
   enum ThermalStatus {
     green @0;
     yellow @1;
@@ -685,6 +693,7 @@ struct ModelDataV2 {
   orientation @5 :XYZTData;
   velocity @6 :XYZTData;
   orientationRate @7 :XYZTData;
+  acceleration @19 :XYZTData;
 
   # prediction lanelines and road edges
   laneLines @8 :List(XYZTData);
@@ -1285,6 +1294,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
 struct Boot {
   wallTimeNanos @0 :UInt64;
   pstore @4 :Map(Text, Data);
+  commands @5 :Map(Text, Data);
   launchLog @3 :Text;
 
   lastKmsgDEPRECATED @1 :Data;
@@ -1372,6 +1382,44 @@ struct UploaderState {
   lastFilename @6 :Text;
 }
 
+struct NavInstruction {
+  maneuverPrimaryText @0 :Text;
+  maneuverSecondaryText @1 :Text;
+  maneuverDistance @2 :Float32;  # m
+  maneuverType @3 :Text; # TODO: Make Enum
+  maneuverModifier @4 :Text; # TODO: Make Enum
+
+  distanceRemaining @5 :Float32; # m
+  timeRemaining @6 :Float32; # s
+  timeRemainingTypical @7 :Float32; # s
+
+  lanes @8 :List(Lane);
+  showFull @9 :Bool;
+
+  struct Lane {
+    directions @0 :List(Direction);
+    active @1 :Bool;
+    activeDirection @2 :Direction;
+  }
+
+  enum Direction {
+    none @0;
+    left @1;
+    right @2;
+    straight @3;
+  }
+
+}
+
+struct NavRoute {
+  coordinates @0 :List(Coordinate);
+
+  struct Coordinate {
+    latitude @0 :Float32;
+    longitude @1 :Float32;
+  }
+}
+
 struct Event {
   logMonoTime @0 :UInt64;  # nanoseconds
   valid @67 :Bool = true;
@@ -1429,6 +1477,9 @@ struct Event {
     deviceState @6 :DeviceState;
     logMessage @18 :Text;
 
+    # navigation
+    navInstruction @82 :NavInstruction;
+    navRoute @83 :NavRoute;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;

cereal/services.py

@@ -62,6 +62,8 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "modelV2": (True, 20., 40),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 0.),
+  "navRoute": (True, 0.),
 
   # debug
   "testJoystick": (False, 0.),

cereal/visionipc/visionbuf.cc

@@ -22,19 +22,28 @@ void visionbuf_compute_aligned_width_and_height(int width, int height, int *alig
 #endif
 }
 
-void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
+void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
   this->rgb = true;
-  this->width = width;
-  this->height = height;
-  this->stride = stride;
+  this->width = init_width;
+  this->height = init_height;
+  this->stride = init_stride;
 }
 
-void VisionBuf::init_yuv(size_t width, size_t height){
+void VisionBuf::init_yuv(size_t init_width, size_t init_height){
   this->rgb = false;
-  this->width = width;
-  this->height = height;
+  this->width = init_width;
+  this->height = init_height;
 
   this->y = (uint8_t *)this->addr;
-  this->u = this->y + (width * height);
-  this->v = this->u + (width / 2 * height / 2);
+  this->u = this->y + (this->width * this->height);
+  this->v = this->u + (this->width / 2 * this->height / 2);
+}
+
+
+uint64_t VisionBuf::get_frame_id() {
+  return *frame_id;
+}
+
+void VisionBuf::set_frame_id(uint64_t id) {
+  *frame_id = id;
 }