dragonpilot mod for 0.8.7-3

.gitignore

@@ -41,8 +41,8 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
-selfdrive/ui/_ui
-selfdrive/ui/_soundd
+
+
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd

CONTRIBUTORS.md

@@ -0,0 +1,35 @@
+# CONTRIBUTORS
+
+Due to the way we manage the source code, it is not possible to see all the contributors' info, hence we create a list here.
+If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!
+
+### TEAM
+Name                                                         | github                                                       | Role 
+------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ 
+cafe                                                         | [cafe](https://github.com/coffice12)                         | Resource Provider
+kumar                                                        | [rav4kumar](https://github.com/rav4kumar)                    | Release Maintainer
+loveloveses                                                  | [loveloveses](https://github.com/loveloveses)                | Wiki Maintainer
+Rick Lan                                                     | [efinilan](https://github.com/efinilan)                      | Release Maintainer
+
+### CONTRIBUTORS
+Name                                                         | github                                                      
+------------------------------------------------------------ | ------------------------------------------------------------
+andy741217                                                   | [andy741217](https://github.com/andy741217)                 
+Arne Schwarck                                                | [arne182](https://github.com/arne182)                       
+berno22                                                      | [berno22](https://github.com/berno22)                       
+Bobbydough                                                   | [Bobbydough](https://github.com/bobbydough)
+cgw1968                                                      | [cgw1968](https://github.com/cgw1968-5779)
+Curtis Jenkins                                               | [actuallylemoncurd](https://github.com/actuallylemoncurd)   
+DFyffe                                                       | [donfyffe](https://github.com/donfyffe)                     
+dinglx                                                       | [dingliangxue](https://github.com/dingliangxue)             
+eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                 
+kegman                                                       | [kegman](https://github.com/kegman)                         
+lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)               
+lirudy                                                       | [lirudy](https://github.com/lirudy)                         
+LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                     
+menwenliang                                                  | [menwenliang](https://github.com/menwenliang)               
+Nelson Chen                                                  | [nelsonjchen](https://github.com/nelsonjchen)
+rming                                                        | [Rming](https://github.com/rming)                           
+sebastian4k                                                  | [sebastian4k](https://github.com/sebastian4k)               
+Shane Smiskol                                                | [sshane](https://github.com/sshane)                         
+toyboxZ                                                      | [toyboxZ](https://github.com/toyboxZ)                       

HOWTO-ONEPLUS.md

@@ -0,0 +1,25 @@
+How to install on Oneplus 3t?
+------
+1. clone dragonpilot to /data/ and make sure it's named openpilot:
+   (手動安裝切換至 dp)
+```
+cd /data/ && rm -fr openpilot ; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.7
+```
+
+2. run command:
+   (在 ssh 畫面下，輸入)
+```
+cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
+```
+
+3. Let it download and complete it update, after a couple of reboot, your screen will then stay in fastboot mode.
+   (等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)
+
+4. In fastboot mode, select use volume button to select to `Recovery mode` then press power button.
+   (在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)
+
+5. In Recovery mode, tap `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`
+   (在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
+
+6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
+   (你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)

JETSON.md

@@ -0,0 +1,10 @@
+set_core_affinity 
+------
+Jetson Xavier NX has 6 cores running at 1.9 GHz, here is what I've defined
+
+0 = (not specified)
+1 = plannerd / radard
+2 = boardd
+3 = controlsd
+4 = camerad
+5 = modeld

SConstruct

@@ -7,6 +7,8 @@ import platform
 import numpy as np
 
 TICI = os.path.isfile('/TICI')
+JETSON = os.path.isfile('/JETSON')
+
 Decider('MD5-timestamp')
 
 AddOption('--test',
@@ -65,6 +67,10 @@ if arch == "aarch64" and TICI:
 
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 
+USE_MIPI = os.getenv("USE_MIPI") is not None
+if arch == "aarch64" and JETSON:
+  arch = "jarch64"
+
 lenv = {
   "PATH": os.environ['PATH'],
 }
@@ -114,8 +120,19 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
+  rpath = []
 
-  if arch == "Darwin":
+  if arch == "jarch64":
+    libpath = [
+      "#phonelibs/libyuv/larch64/lib",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+    cflags = ["-DXNX", "-march=armv8.2-a"]
+    cxxflags = ["-DXNX", "-march=armv8.2-a"]
+    rpath += ["/usr/local/lib"]
+  elif arch == "Darwin":
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
       f"#phonelibs/libyuv/{yuv_dir}/lib",
@@ -143,8 +160,9 @@ else:
       "/usr/local/lib",
     ]
 
-  rpath = [
-    "phonelibs/snpe/x86_64-linux-clang",
+  if arch != "jarch64":
+    rpath += ["phonelibs/snpe/x86_64-linux-clang"]
+  rpath += [
     "cereal",
     "selfdrive/common"
   ]
@@ -309,7 +327,7 @@ else:
   qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
 
   qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
+  if arch == "larch64" or arch == "jarch64":
     qt_libs += ["GLESv2", "wayland-client"]
   elif arch != "Darwin":
     qt_libs += ["GL"]
@@ -342,7 +360,8 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
+zmq = 'zmq'
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])

cereal/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython', 'arch', 'zmq')
 
 import shutil
 
@@ -8,7 +8,7 @@ messaging_dir = Dir('messaging')
 
 # Build cereal
 
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
@@ -40,6 +40,13 @@ messaging_objects = env.SharedObject([
 messaging_lib = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)
 
+# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
+# TODO: get APK to load system zmq to remove the static link
+if arch == "aarch64":
+  zmq_static = FindFile("libzmq.a", "/usr/lib")
+  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
+  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)
 

cereal/_SConstruct

@@ -0,0 +1,73 @@
+import os
+import platform
+import subprocess
+import sysconfig
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+cereal_dir = Dir('.')
+messaging_dir = Dir('./messaging')
+
+cpppath = [
+  cereal_dir,
+  messaging_dir,
+  '/usr/lib/include',
+  '/opt/homebrew/include',
+  sysconfig.get_paths()['include'],
+]
+
+libpath = [
+  '/opt/homebrew/lib',
+]
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  LIBPATH=libpath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+Export('env', 'arch')
+
+envCython = env.Clone(LIBS=[])
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+
+SConscript(['SConscript'])

cereal/car.capnp

@@ -129,6 +129,19 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     neosUpdateRequiredDEPRECATED @88;
     modelLagWarningDEPRECATED @93;
     startupOneplusDEPRECATED @82;
+
+    #dp
+    preLaneChangeLeftALC @105;
+    preLaneChangeRightALC @106;
+    manualSteeringRequired @107;
+    manualSteeringRequiredBlinkersOn @108;
+    leadCarMoving @109;
+
+    # timebomb assist
+    timebombWarn @110;
+    timebombBypassing @111;
+    timebombBypassed @112;
+    mapdAlert @113;
   }
 }
 
@@ -194,6 +207,11 @@ struct CarState {
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
+  # dp
+  lkMode @37 :Bool;
+  stopSteering @38 :Bool; # timebomb - stopSteering
+  engineRPM @39 :Float32;
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;
@@ -246,7 +264,7 @@ struct CarState {
   }
 
   errorsDEPRECATED @0 :List(CarEvent.EventName);
-  brakeLightsDEPRECATED @19 :Bool;
+  brakeLights @19 :Bool;
 }
 
 # ******* radar state @ 20hz *******

cereal/dp.capnp

@@ -0,0 +1,61 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("dp");
+
+@0xbfa7e645486440c7;
+
+# dp.capnp: a home for deprecated structs
+
+# dp
+struct DragonConf {
+  dpThermalStarted @0 :Bool;
+  dpThermalOverheat @1 :Bool;
+  dpAtl @2 :Bool;
+  dpDashcamd @3 :Bool;
+  dpAutoShutdown @4 :Bool;
+  dpAthenad @5 :Bool;
+  dpUploader @6 :Bool;
+  dpLateralMode @7 :UInt8;
+  dpSignalOffDelay @8 :Float32;
+  dpLcMinMph @9 :UInt8;
+  dpLcAutoCont @10 :Bool;
+  dpLcAutoMinMph @11 :UInt8;
+  dpLcAutoDelay @12 :Float32;
+  dpAllowGas @13 :Bool;
+  dpFollowingProfileCtrl @14 :Bool;
+  dpFollowingProfile @15 :UInt8;
+  dpAccelProfileCtrl @16 :Bool;
+  dpAccelProfile @17 :UInt8;
+  dpGearCheck @18 :Bool;
+  dpSpeedCheck @19 :Bool;
+  dpUiDisplayMode @20 :UInt8;
+  dpUiSpeed @21 :Bool;
+  dpUiEvent @22 :Bool;
+  dpUiMaxSpeed @23 :Bool;
+  dpUiFace @24 :Bool;
+  dpUiLane @25 :Bool;
+  dpUiLead @26 :Bool;
+  dpUiDev @27 :Bool;
+  dpUiDevMini @28 :Bool;
+  dpUiBlinker @29 :Bool;
+  dpUiBrightness @30 :UInt8;
+  dpUiVolume @31 :Int8;
+  dpToyotaLdw @32 :Bool;
+  dpToyotaSng @33 :Bool;
+  dpToyotaCruiseOverride @34 :Bool;
+  dpToyotaCruiseOverrideVego @35 :Bool;
+  dpToyotaCruiseOverrideAt @36 :Float32;
+  dpToyotaCruiseOverrideSpeed @37 :Float32;
+  dpVwTimebombAssist @38 :Bool;
+  dpIpAddr @39 :Text;
+  dpCameraOffset @40 :Int8;
+  dpPathOffset @41 :Int8;
+  dpLocale @42 :Text;
+  dpSrLearner @43 :Bool;
+  dpSrCustom @44 :Float32;
+  dpAppd @45 :Bool;
+  dpMapd @46 :Bool;
+}