Tesla devel bb

.gitignore

@@ -32,3 +32,7 @@ selfdrive/test/tests/plant/out
 /src/
 
 one
+
+.vscode/*.json
+launch_chffrplus.sh
+

.travis.yml

@@ -10,3 +10,7 @@ script:
   - docker run --rm
       -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
       tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+
+branches:
+  only:
+  - /.*/

.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+    "files.associations": {
+        "algorithm": "cpp",
+        "chrono": "cpp",
+        "limits": "cpp"
+    }
+}

CONTRIBUTING.md

@@ -2,11 +2,11 @@
 
 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 [slack](https://slack.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 [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
 
 ## Getting Started
 
- * Join our slack [slack.comma.ai](https://slack.comma.ai)
+ * Join our [Discord](https://discord.comma.ai)
  * Make sure you have a [GitHub account](https://github.com/signup/free)
  * Fork [our repositories](https://github.com/commaai) on GitHub
 

Dockerfile.openpilot

@@ -1,7 +1,26 @@
 FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    clang \
+    vim \
+    screen \
+    wget \
+    bzip2 \
+    git \
+    libglib2.0-0 \
+    python-pip \
+    capnproto \
+    libcapnp-dev \
+    libzmq5-dev \
+    libffi-dev \
+    libusb-1.0-0 \
+    libssl-dev \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers
+
 RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
 
 COPY requirements_openpilot.txt /tmp/

RELEASES.md

@@ -1,3 +1,23 @@
+Version 0.5.8 (2019-01-17)
+========================
+ * Open sourced visiond
+ * Auto-slowdown for upcoming turns
+ * Chrysler/Jeep/Fiat support thanks to adhintz!
+ * Honda Civic 2019 support thanks to csouers!
+ * Improved use of car display in Toyota thanks to arne182!
+ * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
+ * EON stops charging when 12V battery drops below 11.8V
+
+Version 0.5.7 (2018-12-06)
+========================
+ * Speed limit from OpenStreetMap added to UI
+ * Highlight speed limit when speed exceeds road speed limit plus a delta
+ * Option to limit openpilot max speed to road speed limit plus a delta
+ * Cadillac ATS support thanks to vntarasov!
+ * GMC Acadia support thanks to CryptoKylan!
+ * Decrease GPU power consumption
+ * NEOSv8 autoupdate
+
 Version 0.5.6 (2018-11-16)
 ========================
  * Refresh settings layout and add feature descriptions
@@ -7,6 +27,7 @@ Version 0.5.6 (2018-11-16)
  * More tuning to Honda positive accelerations
  * Reduce brake pump use on Hondas
  * Chevrolet Malibu support thanks to tylergets!
+ * Holden Astra support thanks to AlexHill!
 
 Version 0.5.5 (2018-10-20)
 ========================

cereal/Makefile

@@ -1,18 +1,21 @@
 PWD := $(shell pwd)
 
-SRCS := log.capnp car.capnp
+SRCS := log.capnp car.capnp ui.capnp
 
-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
-JS := gen/js/car.capnp.js gen/js/log.capnp.js
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ gen/cpp/ui.capnp.c++
+JS := gen/js/car.capnp.js gen/js/log.capnp.js gen/js/ui.capnp.js
 
 UNAME_M ?= $(shell uname -m)
-
 # only generate C++ for docker tests
 ifneq ($(OPTEST),1)
-	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/ui.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h 
 
 	ifeq ($(UNAME_M),x86_64)
-		GENS += gen/java/Car.java gen/java/Log.java
+		ifneq (, $(shell which capnpc-java))
+			GENS += gen/java/Car.java gen/java/Log.java
+    else
+      $(warning capnpc-java not found, skipping java build)
+		endif
 	endif
 
 endif

cereal/__init__.py

@@ -6,3 +6,4 @@
 
 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+ui = capnp.load(os.path.join(CEREAL_PATH, "ui.capnp"))

cereal/car.capnp

@@ -244,6 +244,8 @@ struct CarControl {
     leadVisible @3: Bool;
     visualAlert @4: VisualAlert;
     audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -355,6 +357,7 @@ struct CarParams {
   radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
 
   steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
+  openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?
 
   enum SteerControlType {
     torque @0;

cereal/log.capnp

@@ -187,10 +187,10 @@ struct SensorEventData {
     iOS @1;
     fiber @2;
     velodyne @3;  # Velodyne IMU
-    # c3 sensors below
-    bno055 @4;
-    lsm6ds3 @5;
-    bmp280 @6;
+    bno055 @4;    # Bosch accelerometer
+    lsm6ds3 @5;   # accelerometer (c2)
+    bmp280 @6;    # barometer (c2)
+    mmc3416x @7;  # magnetometer (c2)
   }
 }
 
@@ -276,7 +276,8 @@ struct ThermalData {
   startedTs @13 :UInt64;
 
   thermalStatus @14 :ThermalStatus;
-  chargerDisabled @17 :Bool;
+  chargingError @17 :Bool;
+  chargingDisabled @18 :Bool;
 
   enum ThermalStatus {
     green @0;   # all processes run
@@ -344,6 +345,7 @@ struct LiveCalibrationData {
   warpMatrix @0 :List(Float32);
   # camera_frame_from_model_frame
   warpMatrix2 @5 :List(Float32);
+  warpMatrixBig @6 :List(Float32);
   calStatus @1 :Int8;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
@@ -397,6 +399,8 @@ struct Live100Data {
   curvature @37 :Float32;       # path curvature from vehicle model
   hudLeadDEPRECATED @14 :Int32;
   cumLagMs @15 :Float32;
+  startMonoTime @48 :UInt64;
+  mapValid @49 :Bool;
 
   enabled @19 :Bool;
   active @36 :Bool;
@@ -418,6 +422,10 @@ struct Live100Data {
   engageable @41 :Bool;  # can OP be engaged?
   driverMonitoringOn @43 :Bool;
 
+  # maps
+  vCurvature @46 :Float32;
+  decelForTurn @47 :Bool;
+
   enum ControlState {
     disabled @0;
     preEnabled @1;
@@ -554,6 +562,8 @@ struct Plan {
   aTarget @18 :Float32;
   jerkFactor @6 :Float32;
   hasLead @7 :Bool;
+  hasLeftLane @23 :Bool;
+  hasRightLane @24 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
 
@@ -562,6 +572,11 @@ struct Plan {
 
   gpsPlannerActive @19 :Bool;
 
+  # maps
+  vCurvature @21 :Float32;
+  decelForTurn @22 :Bool;
+  mapValid @25 :Bool;
+
   struct GpsTrajectory {
     x @0 :List(Float32);
     y @1 :List(Float32);
@@ -1567,10 +1582,26 @@ struct LiveParametersData {
 }
 
 struct LiveMapData {
-  valid @0 :Bool;
+  speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
+  curvatureValid @2 :Bool;
+  curvature @3 :Float32;
+  wayId @4 :UInt64;
+  roadX @5 :List(Float32);
+  roadY @6 :List(Float32);
+  lastGps @7: GpsLocationData;
+  roadCurvatureX @8 :List(Float32);
+  roadCurvature @9 :List(Float32);
+  distToTurn @10 :Float32;
+  mapValid @11 :Bool;
 }
 
+struct CameraOdometry {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
 
 struct Event {
   # in nanoseconds?
@@ -1639,5 +1670,6 @@ struct Event {
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
+    cameraOdometry @63 :CameraOdometry;
   }
 }

cereal/ui.capnp

@@ -0,0 +1,64 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Ui");
+
+using Car = import "car.capnp";
+
+@0xce6ca45dddcd5317;
+
+struct UIButtonInfo {
+    # button ID 0..5
+    btnId @0 :Int8;
+    # internal button name
+    btnName @1 :Text;
+    # display label for button (3 chars)
+    btnLabel @2 :Text;
+    # buttons status: 0 = DISABLED, 1 = AVAILABLE, 2 = ENABLED, 3 = WARNING, 9 = NOT AVAILABLE
+    btnStatus @3 :Int16;
+    # small font label shows below the main label, max 7 chars
+    btnLabel2 @4 :Text;
+}
+
+struct UIButtonStatus {
+    # button ID 0..5
+    btnId @0 :Int8;
+    # buttons status: 0 = DISABLED, 1 = AVAILABLE, 2 = ENABLED, 3 = WARNING, 9 = NOT AVAILABLE
+    btnStatus @1 :Int16;
+}
+
+struct UICustomAlert {
+    caStatus @0 :Int8;
+    caText @1 :Text;
+}
+
+struct UISetCar {
+    icCarFolder @0 :Text;
+    icCarName @1 :Text;
+}
+
+struct UIPlaySound {
+    sndSound @0 :Int8;
+}
+
+struct UIUpdate {
+    uiDoUpdate @0 :Int8;
+    uiStatus @1 :Int8;
+    uiCanDisplayMessage @2 :Int8;
+}
+
+#struct UIEvent {
+#    # in nanoseconds?
+#    logMonoTime @0 :UInt64;
+#
+#    union {
+#        uiButtonInfo @1 :UIButtonInfo;
+#        uiCustomAlert @2 :UICustomAlert;
+#        uiSetCar @3 :UISetCar;
+#        uiButtonStatus @4 :UIButtonStatus;
+#        uiUpdate @5 :UIUpdate;
+#        uiPlaySound @6 :UIPlaySound;
+#    }
+#}

common/fingerprints.py

@@ -61,4 +61,4 @@ def eliminate_incompatible_cars(msg, candidate_cars):
 
 def all_known_cars():
   """Returns a list of all known car strings."""
-  return _FINGERPRINTS.keys()
+  return _FINGERPRINTS.keys()

common/params.py

@@ -63,6 +63,7 @@ class UnknownKeyName(Exception):
   "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
   "IsDriverMonitoringEnabled": TxType.PERSISTENT,
   "IsGeofenceEnabled": TxType.PERSISTENT,
+  "SpeedLimitOffset": TxType.PERSISTENT,
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTENT,
@@ -74,6 +75,8 @@ class UnknownKeyName(Exception):
   "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
   "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
   "IsUpdateAvailable": TxType.PERSISTENT,
+  "LongitudinalControl": TxType.PERSISTENT,
+  "LimitSetSpeed": TxType.PERSISTENT,
 
   "RecordFront": TxType.PERSISTENT,
 }
@@ -355,4 +358,4 @@ def put(self, key, dat):
 
   # Test multiprocess:
   # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done
+  # while python common/params.py DongleId; do sleep 0.05; done