Merge pull request commaai#467 from ShaneSmiskol/066-clean

066 clean update

.gitignore

@@ -44,3 +44,6 @@ openpilot
 notebooks
 xx
 
+.coverage*
+htmlcov
+

Pipfile

@@ -7,6 +7,7 @@ verify_ssl = true
 opencv-python= "==3.4.2.17"
 PyQt5 = "*"
 ipython = "*"
+networkx = "*"
 azure-common = "*"
 azure-nspkg = "*"
 azure-storage-blob = "*"
@@ -99,6 +100,7 @@ gast = "==0.2.2"
 matplotlib = "*"
 dictdiffer = "*"
 aenum = "*"
+coverage = "*"
 
 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
@@ -135,7 +137,7 @@ Flask = "*"
 PyJWT = "*"
 "Jinja2" = "*"
 nose = "*"
-pyflakes = "*"
+flake8 = "*"
 pylint = "*"
 pycryptodome = "*"
 pillow = "*"

RELEASES.md

@@ -1,13 +1,26 @@
+Version 0.6.6 (2019-11-05)
+========================
+ * Volkswagen support thanks to jyoung8607!
+ * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
+ * Lexus ES with TSS 2.0 support thanks to energee!
+ * Fix GM ignition detection and lock safety mode not required anymore
+ * Log panda firmware and dongle ID thanks to martinl!
+ * New driving model: improve path prediction and lead detection
+ * New driver monitoring model, 4x smaller and running on DSP
+ * Display an alert and don't start openpilot if panda has wrong firmware
+ * Fix bug preventing EON from terminating processes after a drive
+ * Remove support for Toyota giraffe without the 120Ohm resistor
+
 Version 0.6.5.1 (2019-10-17)
 ========================
  * Enable auto updater, every 30 minutes with auto reboot, can be disabled in multiple ways of needed
  * FAST Braking due to acceleration in corners based on steering angle now and later predicted from model
- 
+
 Version 0.6.5 (2019-10-07)
 ========================
  * NEOS update: upgrade to Python3 and new installer!
  * comma Harness support!
- * New driving model: lateral control has lower reliance on lanelines
+ * New driving model: improve path prediction
  * New driver monitoring model: more accurate face and eye detection
  * Redesign offroad screen to display updates and alerts
  * Increase maximum allowed acceleration
@@ -67,7 +80,7 @@ Version 0.6 (2019-07-01)
  * Panda safety code is MISRA compliant and ships with a signed version on release2
  * New NEOS is 500MB smaller and has a reproducible usr/pipenv
  * Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS2
+ * Improve tuning for supported Toyota with TSS 2.0
  * Various other stability improvements
 
 Version 0.5.13 (2019-05-31)

SAFETY.md

@@ -1,8 +1,8 @@
 openpilot Safety
 ======
 
-openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
-Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
+Like other ACC and ALC systems, openpilot requires the driver to be alert and to 
 pay attention at all times. We repeat, **driver alertness is necessary, but not 
 sufficient, for openpilot to be used safely**.
 
@@ -93,7 +93,7 @@ GM/Chevrolet
     commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
     openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
     0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    torque exceeds 12 units in the opposite direction to ensure limited applied torque against the
     driver's will.
 
   - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
@@ -116,7 +116,7 @@ Hyundai/Kia (Lateral only)
     commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
     openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
     0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
+    torque exceeds 50 units in the opposite direction to ensure limited applied torque against the
     driver's will.
 
 Chrysler/Jeep/Fiat (Lateral only)
@@ -144,8 +144,31 @@ Subaru (Lateral only)
     commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
     openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
     0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
+    torque exceeds 60 units in the opposite direction to ensure limited applied torque against the
     driver's will.
 
+Volkswagen, Audi, SEAT, Škoda (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by the stock system, and
+    additional limits required to meet Comma safety standards.
+
+  - Steering torque is controlled through the CAN message 0x126, also known as HCA_01 for Heading Control Assist.
+    It's limited by openpilot and Panda to a value between -250 and 250, representing 2.5 Nm of torque applied 
+    at the steering rack. The vehicle EPS unit will fault for values outside -300 and 300.
+
+  - The vehicle EPS unit will tolerate any rate of increase or decrease, but may limit the effective rate of
+    change to 5.0 Nm/s. In accordance with the Comma AI safety model requirements, a rate limit is enforced by
+    the Panda firmware and by openpilot, so that the commanded steering torque cannot rise from 0 to maximum
+    faster than 1.25s. Commanded steering torque is gradually limited by the Panda firmware and by openpilot
+    if the driver's torque exceeds 0.8 Nm in the opposite direction to ensure limited applied torque against
+    the driver's will.
+
+  - Brake and gas pedal pressed signals are contained in the ESP_05 0x106 and Motor_20 0x121 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement and is enforced by openpilot.
+    The cancellation due to the rising edge of the gas pressed signal is also enforced by the Panda firmware. 
+    Additionally, the cruise control system disengages on the rising edge of the brake pedal pressed signal,
+    and it's enforced by both openpilot and the Panda firmware.
+
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.

cereal/log.capnp

@@ -297,7 +297,7 @@ struct HealthData {
   # from can health
   voltage @0 :UInt32;
   current @1 :UInt32;
-  started @2 :Bool;
+  ignitionLine @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
   startedSignalDetectedDeprecated @5 :Bool;
@@ -308,6 +308,8 @@ struct HealthData {
   hwType @10 :HwType;
   fanSpeedRpm @11 :UInt16;
   usbPowerMode @12 :UsbPowerMode;
+  ignitionCan @13 :Bool;
+  safetyModel @14 :Car.CarParams.SafetyModel;
 
   enum HwType {
     unknown @0;
@@ -1723,6 +1725,7 @@ struct DriverMonitoring {
   rightEyeProb @7 :Float32;
   leftBlinkProb @8 :Float32;
   rightBlinkProb @9 :Float32;
+  irPwr @10 :Float32;
 }
 
 struct Boot {

check_code_quality.sh

@@ -1,6 +1,7 @@
 #!/bin/bash
 
-pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+# Only pyflakes checks (--select=F)
+flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
 RESULT=$?
 if [ $RESULT -eq 0 ]; then
     pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")

common/kalman/simple_kalman.py

@@ -6,5 +6,4 @@
 subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)
 
 from .simple_kalman_impl import KF1D as KF1D
-# Silence pyflakes
 assert KF1D

common/op_params.py

@@ -32,7 +32,7 @@ def __init__(self):
     self.read_timeout = 1.0  # max frequency to read with self.get(...) (sec)
     self.default_params = {'camera_offset': 0.06, 'awareness_factor': 2.0, 'lane_hug_direction': None,
                            'lane_hug_mod': 1.2, 'lane_hug_angle': 10, 'use_car_caching': True, 'osm': True,
-                           'speed_offset': 0}
+                           'speed_offset': 0, 'keep_openpilot_engaged': True}
     self.force_update = False  # replaces values with default params if True, not just add add missing key/value pairs
     self.run_init()  # restores, reads, and updates params
 

common/params.py

@@ -77,10 +77,11 @@ class UnknownKeyName(Exception):
   "LiveParameters": [TxType.PERSISTENT],
   "LongitudinalControl": [TxType.PERSISTENT],
   "OpenpilotEnabledToggle": [TxType.PERSISTENT],
+  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "Passive": [TxType.PERSISTENT],
   "RecordFront": [TxType.PERSISTENT],
   "ReleaseNotes": [TxType.PERSISTENT],
-  "SafetyModelLock": [TxType.PERSISTENT],
   "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   "SpeedLimitOffset": [TxType.PERSISTENT],
   "SubscriberInfo": [TxType.PERSISTENT],
@@ -90,9 +91,11 @@ class UnknownKeyName(Exception):
   "Version": [TxType.PERSISTENT],
   "CachedFingerprint": [TxType.PERSISTENT],
   "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
   "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
 }
 
 

opendbc/generator/toyota/lexus_is_2018_pt.dbc

@@ -6,6 +6,9 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
@@ -15,6 +18,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/honda_accord_touring_2016_can.dbc

@@ -177,14 +177,14 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
  SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 660 SCM_COMMANDS: 8 SCM
  SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
  SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
  SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 661 XXX_10: 4 XXX
  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX

opendbc/lexus_is_2018_pt_generated.dbc

@@ -365,6 +365,9 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
@@ -374,6 +377,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX