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DonfyffeDonfyffe
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Merge pull request #19 from neokii/hkg_085_dev
5/20/21 update
2 parents d87e862 + 092d0b4 commit e8bcb49

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+321
-159
lines changed

‎Jenkinsfile

+2-2
Original file line numberDiff line numberDiff line change
@@ -200,7 +200,7 @@ pipeline {
200200
phone_steps("eon-party", [
201201
["build", "SCONS_CACHE=1 scons -j8"],
202202
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
203-
// ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
203+
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
204204
])
205205
}
206206
}
@@ -210,7 +210,7 @@ pipeline {
210210
phone_steps("tici-party", [
211211
["build", "SCONS_CACHE=1 scons -j8"],
212212
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
213-
// ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
213+
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
214214
])
215215
}
216216
}

‎README.md

+1-1
Original file line numberDiff line numberDiff line change
@@ -159,7 +159,7 @@ Community Maintained Cars and Features
159159
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
160160
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
161161
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
162-
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
162+
| Hyundai | Elantra 2017-19, 2021 | SCC + LKAS | Stock | 19mph | 34mph |
163163
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
164164
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
165165
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |

‎RELEASES.md

+2
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,7 @@
11
Version 0.8.5 (2021-XX-XX)
22
========================
3+
* Hyundai Elantra 2021 support thanks to CruiseBrantley!
4+
* Added smart model-based FCW
35

46
Version 0.8.4 (2021-05-17)
57
========================

‎cereal/SConscript

+1-2
Original file line numberDiff line numberDiff line change
@@ -40,8 +40,7 @@ messaging_objects = env.SharedObject([
4040
messaging_lib = env.Library('messaging', messaging_objects)
4141
Depends('messaging/impl_zmq.cc', services_h)
4242

43-
# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
44-
# TODO: get APK to load system zmq to remove the static link
43+
# APK
4544
if arch == "aarch64":
4645
zmq_static = FindFile("libzmq.a", "/usr/lib")
4746
shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]

‎cereal/car.capnp

+7-5
Original file line numberDiff line numberDiff line change
@@ -104,6 +104,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
104104
dashcamMode @96;
105105
controlsInitializing @98;
106106
usbError @99;
107+
cameraError @100;
107108

108109
radarCanErrorDEPRECATED @15;
109110
radarCommIssueDEPRECATED @67;
@@ -125,11 +126,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
125126
modelLagWarningDEPRECATED @93;
126127
startupOneplusDEPRECATED @82;
127128

128-
turningIndicatorOn @100;
129-
autoLaneChange @101;
129+
turningIndicatorOn @101;
130+
autoLaneChange @102;
130131

131-
slowingDownSpeed @102;
132-
slowingDownSpeedSound @103;
132+
slowingDownSpeed @103;
133+
slowingDownSpeedSound @104;
133134
}
134135
}
135136

@@ -154,7 +155,6 @@ struct CarState {
154155
# brake pedal, 0.0-1.0
155156
brake @5 :Float32; # this is user pedal only
156157
brakePressed @6 :Bool; # this is user pedal only
157-
brakeLights @19 :Bool;
158158

159159
# steering wheel
160160
steeringAngleDeg @7 :Float32;
@@ -251,6 +251,7 @@ struct CarState {
251251
}
252252

253253
errorsDEPRECATED @0 :List(CarEvent.EventName);
254+
brakeLights @19 :Bool;
254255
}
255256

256257
# ******* radar state @ 20hz *******
@@ -450,6 +451,7 @@ struct CarParams {
450451
mdpsBus @57: Int8;
451452
sasBus @58: Int8;
452453
sccBus @59: Int8;
454+
enableAutoHold @60 :Bool;
453455

454456
struct LateralParams {
455457
torqueBP @0 :List(Int32);

‎cereal/log.capnp

+22-4
Original file line numberDiff line numberDiff line change
@@ -284,12 +284,14 @@ struct DeviceState @0xa4d8b5af2aa492eb {
284284
offroadPowerUsageUwh @23 :UInt32;
285285
networkStrength @24 :NetworkStrength;
286286
carBatteryCapacityUwh @25 :UInt32;
287-
wifiIpAddress @32 :Text;
288287

289288
fanSpeedPercentDesired @10 :UInt16;
290289
started @11 :Bool;
291290
startedMonoTime @13 :UInt64;
292291

292+
lastAthenaPingTime @32 :UInt64;
293+
wifiIpAddress @33 :Text;
294+
293295
# power
294296
batteryPercent @8 :Int16;
295297
batteryStatus @9 :Text;
@@ -335,6 +337,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
335337
operator @1 :Text;
336338
band @2 :Text;
337339
channel @3 :UInt16;
340+
extra @4 :Text;
338341
}
339342

340343
# deprecated
@@ -698,10 +701,24 @@ struct ModelDataV2 {
698701
struct MetaData {
699702
engagedProb @0 :Float32;
700703
desirePrediction @1 :List(Float32);
701-
brakeDisengageProb @2 :Float32;
702-
gasDisengageProb @3 :Float32;
703-
steerOverrideProb @4 :Float32;
704704
desireState @5 :List(Float32);
705+
disengagePredictions @6 :DisengagePredictions;
706+
hardBrakePredicted @7 :Bool;
707+
708+
# deprecated
709+
brakeDisengageProbDEPRECATED @2 :Float32;
710+
gasDisengageProbDEPRECATED @3 :Float32;
711+
steerOverrideProbDEPRECATED @4 :Float32;
712+
}
713+
714+
struct DisengagePredictions {
715+
t @0 :List(Float32);
716+
brakeDisengageProbs @1 :List(Float32);
717+
gasDisengageProbs @2 :List(Float32);
718+
steerOverrideProbs @3 :List(Float32);
719+
brake3MetersPerSecondSquaredProbs @4 :List(Float32);
720+
brake4MetersPerSecondSquaredProbs @5 :List(Float32);
721+
brake5MetersPerSecondSquaredProbs @6 :List(Float32);
705722
}
706723
}
707724

@@ -892,6 +909,7 @@ struct LiveLocationKalman {
892909
gpsOK @19 :Bool = true;
893910
sensorsOK @21 :Bool = true;
894911
deviceStable @22 :Bool = true;
912+
timeSinceReset @23 :Float64;
895913

896914
enum Status {
897915
uninitialized @0;

‎cereal/messaging/messaging.h

+6-6
Original file line numberDiff line numberDiff line change
@@ -66,13 +66,13 @@ class Poller {
6666

6767
class SubMaster {
6868
public:
69-
SubMaster(const std::initializer_list<const char *> &service_list,
70-
const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
69+
SubMaster(const std::vector<const char *> &service_list,
70+
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
7171
void update(int timeout = 1000);
7272
void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
73-
inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
74-
inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
75-
inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
73+
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
74+
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
75+
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
7676
void drain();
7777
~SubMaster();
7878

@@ -85,7 +85,7 @@ class SubMaster {
8585
cereal::Event::Reader &operator[](const char *name) const;
8686

8787
private:
88-
bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
88+
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
8989
Poller *poller_ = nullptr;
9090
struct SubMessage;
9191
std::map<SubSocket *, SubMessage *> messages_;

‎cereal/messaging/socketmaster.cc

+4-4
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@ static const service *get_service(const char *name) {
2222
return nullptr;
2323
}
2424

25-
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
25+
static inline bool inList(const std::vector<const char *> &list, const char *value) {
2626
for (auto &v : list) {
2727
if (strcmp(value, v) == 0) return true;
2828
}
@@ -56,8 +56,8 @@ struct SubMaster::SubMessage {
5656
cereal::Event::Reader event;
5757
};
5858

59-
SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
60-
const std::initializer_list<const char *> &ignore_alive) {
59+
SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
60+
const std::vector<const char *> &ignore_alive) {
6161
poller_ = Poller::create();
6262
for (auto name : service_list) {
6363
const service *serv = get_service(name);
@@ -125,7 +125,7 @@ void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::st
125125
}
126126
}
127127

128-
bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
128+
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
129129
int found = 0;
130130
for (auto &kv : messages_) {
131131
SubMessage *m = kv.second;

‎cereal/services.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -83,7 +83,7 @@ def build_header():
8383
for k, v in service_list.items():
8484
should_log = "true" if v.should_log else "false"
8585
decimation = -1 if v.decimation is None else v.decimation
86-
h += ' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
86+
h += ' { "%s", %d, %s, %d, %d },\n' % \
8787
(k, v.port, should_log, v.frequency, decimation)
8888
h += "};\n"
8989
h += "#endif\n"

‎launch_env.sh

+1-1
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
1111
fi
1212

1313
if [ -z "$AGNOS_VERSION" ]; then
14-
export AGNOS_VERSION="0.15"
14+
export AGNOS_VERSION="0.17"
1515
fi
1616

1717
if [ -z "$PASSIVE" ]; then

‎models/supercombo.dlc

-4.43 MB
Binary file not shown.

‎opendbc/mazda_2017.dbc

+8-6
Original file line numberDiff line numberDiff line change
@@ -168,26 +168,27 @@ BO_ 581 CAM_IDK3: 8 XXX
168168
SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
169169

170170
BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
171-
SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
172171
SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
173172
SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
174173
SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
175174
SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
176-
SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
177-
SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
178175
SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
176+
SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX
177+
SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
178+
SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
179179

180180
BO_ 1157 CAM_SETTINGS: 8 XXX
181-
SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
182181
SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
183182
SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
184183
SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
185184
SG_ LKAS_SENSETIVITY : 10|1@0+ (1,0) [0|1] "" XXX
186185
SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
187186
SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
188187
SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
189-
SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
190188
SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
189+
SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX
190+
SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX
191+
SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX
191192

192193
BO_ 1160 CAM_Empty3: 8 XXX
193194
SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
@@ -759,6 +760,7 @@ CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potentia
759760
CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
760761
CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
761762
CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
763+
CM_ SG_ 863 STOP_SIGN "value 9 when stop sign is active";
762764
CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
763765
CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
764766
CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
@@ -773,4 +775,4 @@ CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
773775
CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
774776
CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
775777
CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
776-
VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
778+
VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;

‎opendbc/subaru_forester_2017_generated.dbc

+14-7
Original file line numberDiff line numberDiff line change
@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
7676
BO_ 320 Throttle: 8 XXX
7777
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
7878
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
79+
SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
7980
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
81+
SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
8082
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
8183
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
84+
SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
8285
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
8386
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
8487
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
8588
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
89+
SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
8690

8791
BO_ 321 Engine: 8 XXX
8892
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
124128
BO_ 352 ES_Brake: 8 XXX
125129
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
126130
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
127-
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
131+
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
128132
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
129133
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
130134
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
136140
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
137141
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
138142
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
139-
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
143+
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
140144
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
141145
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
142-
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
146+
SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
143147
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
144148
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
145-
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
149+
SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
146150
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
147151
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
148152
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
149-
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
153+
SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
150154
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
151155
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
152156

@@ -213,14 +217,17 @@ BO_ 864 Engine_Temp: 8 XXX
213217

214218
BO_ 866 Fuel: 8 XXX
215219

220+
BO_ 977 Dash_State2: 8 XXX
221+
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
222+
216223
BO_ 1745 Dash_State: 8 XXX
217224
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
218225

219226
CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
220227
CM_ SG_ 320 Throttle_Body "Throttle related";
221228
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
222229
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
223-
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
230+
CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
224231
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
225232
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
226233
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@@ -253,6 +260,6 @@ BO_ 355 ES_DashStatus: 8 XXX
253260
BO_ 881 Steering_Torque: 8 XXX
254261
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
255262
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
256-
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
263+
SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
257264
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
258265
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

‎opendbc/subaru_global_2017_generated.dbc

+3-1
Original file line numberDiff line numberDiff line change
@@ -48,11 +48,13 @@ BO_ 2 Steering: 8 XXX
4848
BO_ 64 Throttle: 8 XXX
4949
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
5050
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
51+
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
5152
SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
53+
SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
5254
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
5355
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
5456
SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
55-
SG_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
57+
SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX
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SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
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5860
BO_ 316 Brake_Status: 8 XXX

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