openpilot v0.5.11 release

README.md

@@ -79,6 +79,7 @@ Supported Cars
 | Honda                | CR-V 2017-18             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | CR-V Hybrid 2019         | All                  | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
 | Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
@@ -90,7 +91,8 @@ Supported Cars
 | Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Lexus                | RX Hybrid 2016-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Subaru            |
 | Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
 | Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |

RELEASES.md

@@ -1,13 +1,25 @@
+Version 0.5.11 (2019-04-17)
+========================
+ * Add support for Subaru
+ * Reduce panda power consumption by 60% when car is off
+ * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
+ * Fix bug in controls with new angle-offset learner in MPC
+ * Reduce cpu consumption of ubloxd by rewriting it in C++
+ * Improve driver monitoring model and face detection
+ * Improve performance of visiond and ui
+ * Honda Passport 2019 support
+ * Lexus RX Hybrid 2019 support thanks to schomems!
+
 Version 0.5.10 (2019-03-19)
 ========================
- * Self-tuning vehicle parameters: steering offset, tires stiffness and steering ratio
+ * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
  * Improve longitudinal control at low speed when lead vehicle harshly decelerates
  * Fix panda bug going unexpectedly in DCP mode when EON is connected
  * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
  * New Driver Monitoring Model
  * Support QR codes for login using comma connect
- * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. 
-   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. 
+ * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
+   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
  * Additional speed limit rules for Germany thanks to arne182
  * Allow negative speed limit offsets
 

SAFETY.md

@@ -133,6 +133,19 @@ Chrysler/Jeep/Fiat (Lateral only)
     units above the actual EPS generated motor torque to ensure limited differences between
     commanded and actual torques.
 
+Subaru (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    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
+    driver's will.
 
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.

common/dbc.py

@@ -7,9 +7,9 @@
 
 def int_or_float(s):
   # return number, trying to maintain int format
-  try:
-    return int(s)
-  except ValueError:
+  if s.isdigit():
+    return int(s, 10)
+  else:
     return float(s)
 
 DBCSignal = namedtuple(
@@ -21,7 +21,7 @@ class dbc(object):
   def __init__(self, fn):
     self.name, _ = os.path.splitext(os.path.basename(fn))
     with open(fn) as f:
-      self.txt = f.read().split("\n")
+      self.txt = f.readlines()
     self._warned_addresses = set()
 
     # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
@@ -51,7 +51,8 @@ def __init__(self, fn):
         dat = bo_regexp.match(l)
 
         if dat is None:
-          print "bad BO", l
+          print("bad BO {0}".format(l))
+
         name = dat.group(2)
         size = int(dat.group(3))
         ids = int(dat.group(1), 0) # could be hex
@@ -67,8 +68,9 @@ def __init__(self, fn):
         if dat is None:
           dat = sgm_regexp.match(l)
           go = 1
+
         if dat is None:
-          print "bad SG", l
+          print("bad SG {0}".format(l))
 
         sgname = dat.group(1)
         start_bit = int(dat.group(go+2))
@@ -90,7 +92,8 @@ def __init__(self, fn):
         dat = val_regexp.match(l)
 
         if dat is None:
-          print "bad VAL", l
+          print("bad VAL {0}".format(l))
+
         ids = int(dat.group(1), 0) # could be hex
         sgname = dat.group(2)
         defvals = dat.group(3)
@@ -208,7 +211,7 @@ def decode(self, x, arr=None, debug=False):
 
     name = msg[0][0]
     if debug:
-      print name
+      print(name)
 
     st = x[2].ljust(8, '\x00')
     le, be = None, None
@@ -252,7 +255,7 @@ def decode(self, x, arr=None, debug=False):
       tmp = tmp * factor + offset
 
       # if debug:
-      #   print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])
+      #   print("%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
 
       if arr is None:
         out[s[0]] = tmp

common/ffi_wrapper.py

@@ -4,10 +4,8 @@
 import hashlib
 from cffi import FFI
 
-TMPDIR = "/tmp/ccache"
 
-
-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=None):
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
   if libraries is None:
     libraries = []
 
@@ -24,7 +22,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=None):
     try:
       mod = __import__(cache)
     except Exception:
-      print "cache miss", cache
+      print("cache miss {0}".format(cache))
       compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
       mod = __import__(cache)
   finally:

common/transformations/camera.py

@@ -1,6 +1,7 @@
 import numpy as np
 import common.transformations.orientation as orient
 import cv2
+import math
 
 FULL_FRAME_SIZE = (1164, 874)
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@@ -12,6 +13,17 @@
   [  0.,  FOCAL,  H/2.],
   [  0.,    0.,     1.]])
 
+
+leon_dcam_intrinsics = np.array([
+  [650,   0,   816/2],
+  [  0,  650,  612/2],
+  [  0,    0,     1]])
+
+eon_dcam_intrinsics = np.array([
+  [860,   0,   1152/2],
+  [  0,  860,  864/2],
+  [  0,    0,     1]])
+
 # aka 'K_inv' aka view_frame_from_camera_frame
 eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
 
@@ -147,28 +159,44 @@ def transform_img(base_img,
                  from_intr=eon_intrinsics,
                  to_intr=eon_intrinsics,
                  calib_rot_view=None,
-                 output_size=None):
-  cy = from_intr[1,2]
+                 output_size=None,
+                 pretransform=None,
+                 top_hacks=True):
   size = base_img.shape[:2]
   if not output_size:
     output_size = size[::-1]
-  h = 1.22
-  quadrangle = np.array([[0, cy + 20],
-                         [size[1]-1, cy + 20],
-                         [0, size[0]-1],
-                         [size[1]-1, size[0]-1]], dtype=np.float32)
-  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
-  quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
-                                      h*np.ones(4),
-                                      h/quadrangle_norm[:,1]))
-  rot = orient.rot_from_euler(augment_eulers)
-  if calib_rot_view is not None:
-    rot = calib_rot_view.dot(rot)
-  to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
-  to_KE = to_intr.dot(to_extrinsics)
-  warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
-  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
+
+  cy = from_intr[1,2]
+  def get_M(h=1.22):
+    quadrangle = np.array([[0, cy + 20],
+                           [size[1]-1, cy + 20],
+                           [0, size[0]-1],
+                           [size[1]-1, size[0]-1]], dtype=np.float32)
+    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
+    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
+                                        h*np.ones(4),
+                                        h/quadrangle_norm[:,1]))
+    rot = orient.rot_from_euler(augment_eulers)
+    if calib_rot_view is not None:
+      rot = calib_rot_view.dot(rot)
+    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
+    to_KE = to_intr.dot(to_extrinsics)
+    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
+    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
+                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
+    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
+    return M
+
+  M = get_M()
+  if pretransform is not None:
+    M = M.dot(pretransform)
   augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
+
+  if top_hacks:
+    cyy = int(math.ceil(to_intr[1,2]))
+    M = get_M(1000)
+    if pretransform is not None:
+      M = M.dot(pretransform)
+    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
+
   return augmented_rgb

common/transformations/model.py

@@ -32,7 +32,7 @@
 
 
 # MED model
-MEDMODEL_INPUT_SIZE = (640, 240)
+MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
 MEDMODEL_CY = 47.6
 

launch_chffrplus.sh

@@ -19,6 +19,8 @@ function launch {
   echo 0-3 > /dev/cpuset/foreground/cpus
   echo 0-3 > /dev/cpuset/android/cpus
 
+  # handle pythonpath
+  ln -s /data/openpilot /data/pythonpath
   export PYTHONPATH="$PWD"
 
   # start manager

requirements_openpilot.txt

@@ -23,7 +23,7 @@ enum34==1.1.6
 evdev==0.6.1
 fastcluster==1.1.20
 filterpy==1.2.4
-hexdump
+hexdump==3.3
 ipaddress==1.0.16
 json-rpc==1.12.1
 libusb1==1.5.0
@@ -33,6 +33,7 @@ nose==1.3.7
 numpy==1.11.1
 opencv-python==3.4.0.12
 pause==0.1.2
+psutil==3.4.2
 py==1.4.31
 pyOpenSSL==16.0.0
 pyasn1-modules==0.0.8

selfdrive/boardd/boardd.py

@@ -220,7 +220,7 @@ def boardd_proxy_loop(rate=200, address="192.168.2.251"):
     # recv @ 100hz
     can_msgs = can_recv()
     #for m in can_msgs:
-    #  print "R:",hex(m[0]), str(m[2]).encode("hex")
+    #  print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
 
     # publish to logger
     # TODO: refactor for speed
@@ -233,7 +233,7 @@ def boardd_proxy_loop(rate=200, address="192.168.2.251"):
     if tsc is not None:
       cl = can_capnp_to_can_list(tsc.can)
       #for m in cl:
-      #  print "S:",hex(m[0]), str(m[2]).encode("hex")
+      #  print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
       can_send_many(cl)
 
     rk.keep_time()

selfdrive/can/Makefile

@@ -16,6 +16,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
 
 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
 CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+LDFLAGS =
 
 ifeq ($(UNAME_S),Darwin)
 	ZMQ_LIBS = -L/usr/local/lib -lzmq
@@ -28,18 +29,24 @@ else ifeq ($(UNAME_M),x86_64)
 else ifeq ($(UNAME_M),aarch64)
 	ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
 	ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib -l:libzmq.a
-	CXXFLAGS += -lgnustl_shared
+	LDFLAGS += -lgnustl_shared
 endif
 
+OBJDIR = obj
+
 OPENDBC_PATH := $(shell python -c 'import opendbc; print opendbc.DBC_PATH')
 
 DBC_SOURCES := $(wildcard $(OPENDBC_PATH)/*.dbc)
+DBC_OBJS := $(patsubst $(OPENDBC_PATH)/%.dbc,$(OBJDIR)/%.o,$(DBC_SOURCES))
 DBC_CCS := $(patsubst $(OPENDBC_PATH)/%.dbc,dbc_out/%.cc,$(DBC_SOURCES))
+.SECONDARY: $(DBC_CCS)
+
+LIBDBC_OBJS := $(OBJDIR)/dbc.o $(OBJDIR)/parser.o $(OBJDIR)/packer.o
 
 CWD := $(shell pwd)
 
 .PHONY: all
-all: libdbc.so
+all: $(OBJDIR) libdbc.so
 
 include ../common/cereal.mk
 
@@ -49,22 +56,45 @@ libdbc.so:: ../../cereal/gen/cpp/log.capnp.h
 ../../cereal/gen/cpp/log.capnp.h:
 	cd ../../cereal && make
 
-libdbc.so:: dbc.cc parser.cc packer.cc $(DBC_CCS)
+libdbc.so:: $(LIBDBC_OBJS) $(DBC_OBJS)
+	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -shared -o '$@' $^ \
-	  -I. \
-	  -I../.. \
-    $(CXXFLAGS) \
-    $(ZMQ_FLAGS) \
-    $(ZMQ_LIBS) \
-    $(CEREAL_CXXFLAGS) \
-    $(CEREAL_LIBS)
-
-dbc_out/%.cc: $(OPENDBC_PATH)/%.dbc process_dbc.py dbc_template.cc
-	PYTHONPATH=$(PYTHONPATH):$(CWD)/../../pyextra ./process_dbc.py '$<' '$@'
-
-.PHONY: clean
+		-I. -I../.. \
+		$(CXXFLAGS) \
+		$(LDFLAGS) \
+		$(ZMQ_FLAGS) \
+		$(ZMQ_LIBS) \
+		$(CEREAL_CXXFLAGS) \
+		$(CEREAL_LIBS)
+
+$(OBJDIR)/%.o: %.cc
+	@echo "[ CXX ] $@"
+	$(CXX) -fPIC -c -o '$@' $^ \
+		-I. -I../.. \
+		$(CXXFLAGS) \
+		$(ZMQ_FLAGS) \
+		$(CEREAL_CXXFLAGS) \
+
+$(OBJDIR)/%.o: dbc_out/%.cc
+	@echo "[ CXX ] $@"
+	$(CXX) -fPIC -c -o '$@' $^ \
+		-I. -I../.. \
+		$(CXXFLAGS) \
+		$(ZMQ_FLAGS) \
+		$(CEREAL_CXXFLAGS) \
+
+dbc_out/%.cc: process_dbc.py dbc_template.cc $(OPENDBC_PATH)/%.dbc
+	@echo "[ DBC GEN ] $@"
+	@echo "Missing prereq $?"
+	PYTHONPATH=$(PYTHONPATH):$(CWD)/../../pyextra ./process_dbc.py $(OPENDBC_PATH) dbc_out
+
+$(OBJDIR):
+	mkdir -p $@
+
+.PHONY: clean $(OBJDIR)
 clean:
 	rm -rf libdbc.so*
 	rm -f dbc_out/*.cc
 	rm -f dbcs.txt
 	rm -f dbcs.csv
+	rm -rf $(OBJDIR)/*