Tesla devel bb

.gitignore

@@ -3,9 +3,9 @@
 .ipynb_checkpoints
 .idea
 .sconsign.dblite
+.vscode
 model2.png
 a.out
-
 *.DSYM
 *.d
 *.pyc
@@ -22,13 +22,19 @@ a.out
 *.vcd
 config.json
 clcache
-
+launch_chffrplus.sh
+.vscode/*.json
+selfdrive/visiond/visiond
+.vscode/
 board/obj/
 selfdrive/boardd/boardd
+selfdrive/visiond/visiond
 selfdrive/logcatd/logcatd
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
+openpilot_tools/
 /src/
-
 one
+.vscode/*.json
+./launch_chffrplus.sh

.travis.yml

@@ -10,3 +10,7 @@ script:
   - docker run --rm
       -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
       tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+
+branches:
+  only:
+  - /.*/

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 +1,35 @@
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+ * Chrysler Pacifica and Jeep Grand Cherokee suppor thanks to adhintz!
+
+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!
+ * Improve 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
+ * NEOSv8 autoupdate
+
 Version 0.5.6 (2018-11-16)
 ========================
  * Refresh settings layout and add feature descriptions
@@ -7,6 +39,7 @@ 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)
 ========================

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
+    else
+      $(warning capnpc-java not found, skipping java build)
+		endif
 	endif
 
 endif

cereal/__init__.py

@@ -6,3 +6,5 @@
 
 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"))
+tinkla = capnp.load(os.path.join(CEREAL_PATH, "tinkla.capnp"))

cereal/car.capnp

@@ -244,6 +244,8 @@ struct CarControl {
     leadVisible @3: Bool;
     visualAlert @4: VisualAlert;
     audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -323,6 +325,7 @@ struct CarParams {
   centerToFront @9 :Float32;   # [m] GC distance to front axle
   steerRatio @10 :Float32;       # [] ratio between front wheels and steering wheel angles
   steerRatioRear @11 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+  eonToFront  @54  :Float32;    # [m] distance from EON to front wheels
 
   # things we can derive
   rotationalInertia @12 :Float32;    # [kg*m2] body rotational inertia
@@ -337,6 +340,9 @@ struct CarParams {
   steerKpDEPRECATED @15 :Float32;
   steerKiDEPRECATED @16 :Float32;
   steerKf @25 :Float32;
+  steerReactance @51 :Float32;
+  steerInductance @52 :Float32;
+  steerResistance @53 :Float32;
 
   # Kp and Ki for the longitudinal control
   longitudinalKpBP @36 :List(Float32);
@@ -353,8 +359,10 @@ struct CarParams {
   steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
   steerControlType @46 :SteerControlType;
   radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
+  syncID @55  :Int16;  # SyncID is optional
 
   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;
@@ -372,6 +374,7 @@ struct Live100Data {
   l20MonoTimeDEPRECATED @17 :UInt64;
   mdMonoTimeDEPRECATED @18 :UInt64;
   planMonoTime @28 :UInt64;
+  pathPlanMonoTime @50 :UInt64;
 
   state @31 :ControlState;
   vEgo @0 :Float32;
@@ -397,6 +400,9 @@ struct Live100Data {
   curvature @37 :Float32;       # path curvature from vehicle model
   hudLeadDEPRECATED @14 :Int32;
   cumLagMs @15 :Float32;
+  startMonoTime @48 :UInt64;
+  mapValid @49 :Bool;
+  forceDecel @51 :Bool;
 
   enabled @19 :Bool;
   active @36 :Bool;
@@ -418,6 +424,10 @@ 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;
@@ -538,12 +548,12 @@ struct Plan {
   events @13 :List(Car.CarEvent);
 
   # lateral, 3rd order polynomial
-  lateralValid @0 :Bool;
-  dPoly @1 :List(Float32);
-  laneWidth @11 :Float32;
+  lateralValidDEPRECATED @0 :Bool;
+  dPolyDEPRECATED @1 :List(Float32);
+  laneWidthDEPRECATED @11 :Float32;
 
   # longitudinal
-  longitudinalValid @2 :Bool;
+  longitudinalValidDEPRECATED @2 :Bool;
   vCruise @16 :Float32;
   aCruise @17 :Float32;
   vTarget @3 :Float32;
@@ -552,8 +562,14 @@ struct Plan {
   aTargetMinDEPRECATED @4 :Float32;
   aTargetMaxDEPRECATED @5 :Float32;
   aTarget @18 :Float32;
+
+  vStart @26 :Float32;
+  aStart @27 :Float32;
+
   jerkFactor @6 :Float32;
   hasLead @7 :Bool;
+  hasLeftLaneDEPRECATED @23 :Bool;
+  hasRightLaneDEPRECATED @24 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
 
@@ -562,6 +578,12 @@ struct Plan {
 
   gpsPlannerActive @19 :Bool;
 
+  # maps
+  vCurvature @21 :Float32;
+  decelForTurn @22 :Bool;
+  mapValid @25 :Bool;
+
+
   struct GpsTrajectory {
     x @0 :List(Float32);
     y @1 :List(Float32);
@@ -575,6 +597,25 @@ struct Plan {
   }
 }
 
+struct PathPlan {
+  laneWidth @0 :Float32;
+
+  dPoly @1 :List(Float32);
+  cPoly @2 :List(Float32);
+  cProb @3 :Float32;
+  lPoly @4 :List(Float32);
+  lProb @5 :Float32;
+  rPoly @6 :List(Float32);
+  rProb @7 :Float32;
+
+  mpcAngles @10 :List(Float64);
+  mpcTimes @11 :List(Float64);
+
+  angleSteers @8 :Float32;
+  valid @9 :Bool;
+  pPoly @12 :List(Float32);
+}
+
 struct LiveLocationData {
   status @0 :UInt8;
 
@@ -1261,6 +1302,7 @@ struct UbloxGnss {
       carrierPhaseStdev @10 :Float32;
       # doppler standard deviation in Hz
       dopplerStdev @11 :Float32;
+      sigId @12 :UInt8;
 
       struct TrackingStatus {
         # pseudorange valid
@@ -1567,10 +1609,38 @@ struct LiveParametersData {
 }
 
 struct LiveMapData {
-  valid @0 :Bool;
+  speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
+  speedAdvisoryValid @12 :Bool;
+  speedAdvisory @13 :Float32;
+  speedLimitAheadValid @14 :Bool;
+  speedLimitAhead @15 :Float32;
+  speedLimitAheadDistance @16 :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 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 KalmanOdometry {
+  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 +1709,8 @@ struct Event {
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
+    cameraOdometry @63 :CameraOdometry;
+    pathPlan @64 :PathPlan;
+    kalmanOdometry @65 :KalmanOdometry;
   }
 }