merge 0710 clean into tf-full-steering

Jenkinsfile

@@ -34,6 +34,9 @@ pipeline {
     COMMA_JWT = credentials('athena-test-jwt')
     TEST_DIR = "/data/openpilot"
   }
+  options {
+      timeout(time: 1, unit: 'HOURS')
+  }
 
   stages {
 
@@ -58,7 +61,7 @@ pipeline {
       when {
         not {
           anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
           }
         }
       }
@@ -133,6 +136,7 @@ pipeline {
                       ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
                       ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
+                      //["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
                       //["test updater", "python installer/updater/test_updater.py"],
                     ])
                   }

README.md

@@ -49,10 +49,11 @@ This is done automatically otherwise run `pkill -f boardd; cd /data/openpilot/pa
 
 ## Supported Cars
 Fork is known to work in both US and Europe
+- Avalon 2021
 - RAV4 Hybrid 2016-19
 - RAV4 2017-19
 - Corolla 2019-20
-- Prius 2017
+- Prius 2017-2021
 - RX hyrid 2017
 - CT 2018
 - Hyundia is fully supported thank to @xps-genesis

RELEASES.md

@@ -1,3 +1,13 @@
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
 Version 0.7.9 (2020-10-09)
 ========================
  * Improved car battery power management
@@ -29,24 +39,24 @@ Version 0.7.7 (2020-07-20)
 
 Version 0.7.6.1 (2020-06-16)
 ========================
-* Hotfix: update kernel on some comma twos (orders #8570-#8680)
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
 
 Version 0.7.6 (2020-06-05)
 ========================
-* White panda is deprecated, upgrade to comma two or black panda
-* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
-* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
-* Huge CPU savings in modeld by using thneed!
-* Lots of code cleanup and refactors
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
 
 Version 0.7.5 (2020-05-13)
 ========================
-* Right-Hand Drive support for both driving and driver monitoring!
-* New driving model: improved at sharp turns and lead speed estimation
-* New driver monitoring model: overall improvement on comma two
-* Driver camera preview in settings to improve mounting position
-* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
-* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
 
 Version 0.7.4 (2020-03-20)
 ========================
@@ -482,96 +492,96 @@ Version 0.3.4 (2017-07-28)
 
 Version 0.3.3  (2017-06-28)
 ===========================
-  * Improved model trained on more data
-  * Alpha CR-V support thanks to energee and johnnwvs!
-  * Using the opendbc project for DBC files
-  * Minor performance improvements
-  * UI update thanks to pjlao307
-  * Power off button
-  * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
 
 Version 0.3.2  (2017-05-22)
 ===========================
-  * Minor stability bugfixes
-  * Added metrics and rear view mirror disable to settings
-  * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
 
 Version 0.3.1  (2017-05-17)
 ===========================
-  * visiond stability bugfix
-  * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing
 
 Version 0.3.0  (2017-05-12)
 ===========================
-  * Add CarParams struct to improve the abstraction layer
-  * Refactor visiond IPC to support multiple clients
-  * Add raw GPS and beginning support for navigation
-  * Improve model in visiond using crowdsourced data
-  * Add improved system logging to diagnose instability
-  * Rewrite baseui in React Native
-  * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
 
 Version 0.2.9  (2017-03-01)
 ===========================
-  * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1
 
 Version 0.2.8  (2017-02-27)
 ===========================
-  * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71
 
 Version 0.2.7  (2017-02-08)
 ===========================
-  * Better performance and pictures at night
-  * Fix ptr alignment issue in boardd
-  * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
 ===========================
-  * Fix bug in visiond model execution
+ * Fix bug in visiond model execution
 
 Version 0.2.5  (2017-01-30)
 ===========================
-  * Fix race condition in manager
+ * Fix race condition in manager
 
 Version 0.2.4  (2017-01-27)
 ===========================
-  * OnePlus 3T support
-  * Enable installation as NEOS app
-  * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
 
 Version 0.2.3  (2017-01-11)
 ===========================
-  * Reduce space usage by 80%
-  * Add better logging
-  * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
 
 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
 
 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
 
 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition

SConstruct

@@ -7,6 +7,7 @@ import sys
 import platform
 
 TICI = os.path.isfile('/TICI')
+Decider('MD5-timestamp')
 
 AddOption('--test',
           action='store_true',
@@ -27,7 +28,7 @@ if platform.system() == "Darwin":
 if arch == "aarch64" and TICI:
   arch = "larch64"
 
-webcam = bool(ARGUMENTS.get("use_webcam", 0))
+USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
 
 if arch == "aarch64" or arch == "larch64":
@@ -108,6 +109,7 @@ else:
     ]
 
   rpath = [
+    "phonelibs/snpe/x86_64-linux-clang",
     "external/tensorflow/lib",
     "cereal",
     "selfdrive/common"
@@ -136,6 +138,7 @@ env = Environment(
     "-Werror",
     "-Wno-unknown-warning-option",
     "-Wno-deprecated-register",
+    "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
@@ -177,7 +180,7 @@ env = Environment(
   RPATH=rpath,
 
   CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
     "#cereal",
     "#selfdrive/common",
@@ -202,6 +205,7 @@ if arch in ["x86_64", "Darwin", "larch64"]:
     ]
     qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
   else:
+    qt_env['QTDIR'] = "/usr"
     qt_dirs = [
       f"/usr/include/{real_arch}-linux-gnu/qt5",
       f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
@@ -261,7 +265,7 @@ def abspath(x):
 
 # still needed for apks
 zmq = 'zmq'
-Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')
+Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])

cereal/car.capnp

@@ -25,7 +25,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     canError @0;
     steerUnavailable @1;
     brakeUnavailable @2;
-    gasUnavailable @3;
     wrongGear @4;
     doorOpen @5;
     seatbeltNotLatched @6;
@@ -96,17 +95,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     fcw @79;
     steerSaturated @80;
     whitePandaUnsupported @81;
+    startupGreyPanda @82;
     belowEngageSpeed @84;
     noGps @85;
-    focusRecoverActive @86;
     wrongCruiseMode @87;
-    neosUpdateRequired @88;
     modeldLagging @89;
-    preKeepHandsOnWheel @90;
-    promptKeepHandsOnWheel @91;
-    keepHandsOnWheel @92;
-    deviceFalling @93;
+    deviceFalling @90;
+    fanMalfunction @91;
+    preKeepHandsOnWheel @92;
+    promptKeepHandsOnWheel @93;
+    keepHandsOnWheel @94;
 
+    gasUnavailableDEPRECATED @3;
     dataNeededDEPRECATED @16;
     modelCommIssueDEPRECATED @27;
     ipasOverrideDEPRECATED @33;
@@ -116,7 +116,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     calibrationProgressDEPRECATED @47;
     invalidGiraffeHondaDEPRECATED @49;
     canErrorPersistentDEPRECATED @83;
-    startupWhitePandaDEPRECATED @82;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
   }
 }
 

cereal/log.capnp

@@ -572,7 +572,7 @@ struct ControlsState @0x97ff69c53601abf1 {
 
   enum AlertStatus {
     normal @0;       # low priority alert for user's convenience
-    userPrompt @1;   # mid piority alert that might require user intervention
+    userPrompt @1;   # mid priority alert that might require user intervention
     critical @2;     # high priority alert that needs immediate user intervention
   }
 
@@ -1994,6 +1994,7 @@ struct Boot {
   wallTimeNanos @0 :UInt64;
   lastKmsg @1 :Data;
   lastPmsg @2 :Data;
+  launchLog @3 :Text;
 }
 
 struct LiveParametersData {

cereal/messaging/messaging_pyx.pyx

@@ -140,9 +140,9 @@ cdef class PubSocket:
       else:
         raise MessagingError
 
-  def send(self, string data):
+  def send(self, bytes data):
     length = len(data)
-    r = self.socket.send(<char*>data.c_str(), length)
+    r = self.socket.send(<char*>data, length)
 
     if r != length:
       if errno.errno == errno.EADDRINUSE:

cereal/messaging/messaging_pyx_setup.py

@@ -31,7 +31,7 @@ def get_ext_filename(self, ext_name):
 
 
 sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++14", "-Wno-nullability-completeness"]
+extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 

cereal/messaging/msgq.cc

@@ -114,6 +114,7 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
 
   int rc = ftruncate(fd, size + sizeof(msgq_header_t));
   if (rc < 0){
+    close(fd);
     return -1;
   }
   char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);

common/SConscript

@@ -4,3 +4,11 @@ Import('env', 'cython_dependencies')
 env.Command(['common_pyx.so', 'clock.cpp'],
             cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
             "cd common && python3 common_pyx_setup.py build_ext --inplace")
+
+# Build cython params module
+env.Command(['params_pyx.so', 'params_pyx.cpp'],
+            cython_dependencies + [
+                'params_pyx_setup.py', 'params_pyx.pyx', 'params_pxd.pxd',
+                '#selfdrive/common/params.cc', '#selfdrive/common/params.h',
+                '#selfdrive/common/util.c', '#selfdrive/common/util.h'],
+            "cd common && python3 params_pyx_setup.py build_ext --inplace")