merge release2 first

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
+ * no 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)
 ========================

TUNING.md

@@ -0,0 +1,60 @@
+Welcome to openpilot - Tuning mod
+======
+
+This openpilot mod allows you to dynamically modify variables used by openpilot.
+The purpose of this mod is to make it easier to tweak certain variables instead of
+having to modify code, recompile, reboot after every change.
+
+To use this mod you need to do 2 things:
+
+1. Create a file called **/sdcard/tuning/params.txt** on your EON.
+
+You will need to specify which variables you want the Tuning mod to manage by adding them to that file.  See the file called **selfdrive/ui/params.example.txt** for an example.
+
+2. Modify OpenPilot code that uses the variable so that it is read from this file instead of hard coded.  This is left for the user to figure out and implement.  To help you get started with this step you can use the following python code to read in the variables stored by this mod:
+
+```
+import imp
+f = open("/sdcard/tuning/params.txt")
+tuning = imp.load_source('tuning', '', f)
+f.close()
+````
+
+This will read all of the parameters that you've defined in your **params.txt** file and store them into a python variable called `tuning`.  Then you need to assign the real variables that openpilot uses with the corresponding parameter value.  For example, if openpilot has a hard coded value for `ret.steerKp=[0.2]` Assuming your **params.txt** file contains this parameter:
+
+`
+MySteerKp=[0.25]
+`
+
+You would then replace that line in the openpilot python file with `ret.steerKp=tuning.MySteerKp`.
+
+This mod can manage up to 10 different variables with each variable having a maximum of 3 element values in it.
+
+For questions or info about this mod, visit the comma slack channel #mod-tuning
+
+To change the "scale" of the steps tap the "Steps" box.  It will cycle through different scales.  The step scales are: \[0.000001, 0.00001, 0.0001, 0.001, 0.01, 0.1, 1, 5\]
+
+![screenshot](https://i.imgur.com/G7j2vQY.jpg)
+
+CHANGE LOG:
+
+v0.0.4
+========================
+ * Add ability to specify "presets" in params.txt file (See selfdrive/ui/params.example.txt).  You can have up to 10 "preset" values.  NOTE: The parameter list for each preset MUST match.  When you edit a preset value the values for the current preset will be written to a file called **/sdcard/tuning/tune.txt**.  This is now the file you should be loading into your python code.
+
+v0.0.3
+========================
+ * Increase precision to 6 decimal places
+
+v0.0.2
+========================
+ * Added 'press and hold' on the +/- buttons
+ * Swapped positions of +/- buttons
+
+v0.0.1
+========================
+ * Initial version
+
+To Do:
+- [ ] Ability to handle hex values
+- [ ] Suppress baseui from toggling zoom view when tapping

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 gen/java/UI.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

@@ -116,6 +116,14 @@ struct CarState {
   leftBlinker @20 :Bool;
   rightBlinker @21 :Bool;
   genericToggle @23 :Bool;
+  blindspot @26 :Bool;
+  distanceToggle @27 :Float32;
+  laneDepartureToggle @28 :Bool;
+  accSlowToggle @29 :Bool;
+  blindspotside @30 :Float32;
+  readdistancelines @31 :Float32;
+  gasbuttonstatus @32 :Float32;
+  lkMode @33 :Bool;
 
   # lock info
   doorOpen @24 :Bool;
@@ -244,6 +252,10 @@ struct CarControl {
     leadVisible @3: Bool;
     visualAlert @4: VisualAlert;
     audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -355,6 +367,7 @@ 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 +562,10 @@ struct Plan {
   aTarget @18 :Float32;
   jerkFactor @6 :Float32;
   hasLead @7 :Bool;
+  hasLeftLane @23 :Bool;
+  hasRightLane @24 :Bool;
+  hasleftLaneDepart @25 :Bool;
+  hasrightLaneDepart @26 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
 
@@ -562,6 +574,11 @@ struct Plan {
 
   gpsPlannerActive @19 :Bool;
 
+  # maps
+  vCurvature @21 :Float32;
+  decelForTurn @22 :Bool;
+  mapValid @27 :Bool;
+
   struct GpsTrajectory {
     x @0 :List(Float32);
     y @1 :List(Float32);
@@ -1567,10 +1584,30 @@ 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 LatControl {
+  anglelater @0 :Float32;
+}
+
+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 +1676,7 @@ struct Event {
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
+    latControl @63 :LatControl;
+    cameraOdometry @64 :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/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,
 }