openpilot v0.7.8 update

Merge pull request commaai#152 from xx979xx/7.8-dev
DrFritzi · Sep 7, 2020 · bfef177 · bfef177
2 parents 03a4f48 + 63ce9e3
commit bfef177
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diff --git a/Jenkinsfile b/Jenkinsfile
@@ -1,33 +1,60 @@
-pipeline {
-  agent {
-    docker {
-      image 'python:3.7.3'
-      args '--user=root'
+def phone(String ip, String step_label, String cmd) {
+  def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
+
+  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
+    sh label: step_label,
+        script: """
+                ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
+echo \$\$ > /dev/cpuset/app/tasks || true
+echo \$PPID > /dev/cpuset/app/tasks || true
+mkdir -p /dev/shm
+chmod 777 /dev/shm
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+EOF"""
+  }
+}
+
+def phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 60, unit: 'MINUTES') {
+      phone(device_ip, "kill old processes", "pkill -f comma || true")
+      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
+      }
     }
   }
+}
+
+pipeline {
+  agent none
   environment {
     COMMA_JWT = credentials('athena-test-jwt')
+    TEST_DIR = "/data/openpilot"
   }
 
   stages {
 
     stage('Release Build') {
+      agent {
+        docker {
+          image 'python:3.7.3'
+          args '--user=root'
+        }
+      }
       when {
         branch 'devel-staging'
       }
       steps {
-        lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            dir(path: 'selfdrive/test') {
-              sh 'pip install paramiko'
-              sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
-            }
-          }
-        }
+        phone_steps("eon-build", [
+          ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+        ])
       }
     }
 
-    stage('On-device Tests') {
+    stage('openpilot tests') {
       when {
         not {
           anyOf {
@@ -36,48 +63,80 @@ pipeline {
         }
       }
 
-      parallel {
 
-        stage('Build') {
-          environment {
-            CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}"
-          }
+      stages {
 
-          steps {
-            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "cd release && ./build_devel.sh"'
-                }
+        /*
+        stage('PC tests') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilot'
+              args '--privileged --shm-size=1G --user=root'
+            }
+          }
+          stages {
+            stage('Build') {
+              steps {
+                sh 'scons -j$(nproc)'
               }
             }
           }
+          post {
+            always {
+              // fix permissions since docker runs as another user
+              sh "chmod -R 777 ."
+            }
+          }
         }
+        */
 
-        stage('Replay Tests') {
-          steps {
-            lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
-                }
-              }
+        stage('On-device Tests') {
+          agent {
+            docker {
+              image 'python:3.7.3'
+              args '--user=root'
             }
           }
-        }
 
-        stage('HW Tests') {
-          steps {
-            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
-              timeout(time: 60, unit: 'MINUTES') {
-                dir(path: 'selfdrive/test') {
-                  sh 'pip install paramiko'
-                  sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \
-                                          nosetests -s selfdrive/test/test_sounds.py && \
-                                          nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"'
+          stages {
+            stage('parallel tests') {
+              parallel {
+
+                stage('Devel Build') {
+                  environment {
+                    CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
+                  }
+                  steps {
+                    phone_steps("eon", [
+                      ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
+                      ["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
+                      ["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                      ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
+                      ["test text window build", "cd selfdrive/ui/text && make clean && make"],
+                    ])
+                  }
+                }
+
+                stage('Replay Tests') {
+                  steps {
+                    phone_steps("eon2", [
+                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                    ])
+                  }
                 }
+
+                stage('HW + Unit Tests') {
+                  steps {
+                    phone_steps("eon", [
+                      ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
+                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      //["test updater", "python installer/updater/test_updater.py"],
+                    ])
+                  }
+                }
+
               }
             }
           }

diff --git a/README.md b/README.md
@@ -25,19 +25,22 @@ git fetch --all
 git checkout xx979xx/HKG_community
 git checkout origin/release2
 ```
+- To update a branch:
+```
+git pull
+```
+- To reset a branch:
+```
+git reset xx979xx/HKG_community --hard
+```
 
 Changes:
 ------
+- <b>  UI Toggles for community features:</b> you do not have to modify the code to enable/disable community features anymore, find the new toggels in Developer Settings.
 - <b>  HKG longitudinal control:</b> warrings: it is beta, be carful!! Openpilot will control the speed of your car, you can engage with cruise button.
 if your car has SCC on bus0 (CAN1) you have to disable it, otherwise this won't works.
-To enable long control, change line 255 in selfdrive/car/hyundai/interface.py to:
-```python
-        ret.openpilotLongitudinalControl = True
-```
-- <b>  Auto LCA:</b> credit to @SiGmAX666: Auto Lane change assist, no need for steering nudge. To enable Auto LCA(disabled by default),  change line 189 in selfdrive/car/hyundai/interface.py to:
-```python
-    ret.autoLcaEnabled = True
-```
+To enable long control, find the option under Developer Settings in your device.
+- <b>  Auto LCA:</b> credit to @SiGmAX666: Auto Lane change assist, no need for steering nudge. To enable Auto LCA(disabled by default),   find the option under Developer Settings in your device.
 - <b>  Enable by Cruise button:</b> Only for Car without long control, Openpilot will engage when turn cruise control on.
 - <b>  Turning disable:</b> thank to Ku7: Openpilot will disable steering while turning signal on and speed below 60 kph, Enable again after 1 second. 
 - <b>  Disabling by LKAS button:</b> Openpilot will disable and enable steering by toggling LKAS button.
@@ -147,7 +150,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
@@ -157,7 +160,7 @@ Supported Cars
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019                  | Honda Sensing     | Stock            | 0mph               | 3mph              |
+| Honda     | Insight 2019-20               | Honda Sensing     | Stock            | 0mph               | 3mph              |
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
@@ -217,6 +220,7 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -225,21 +229,22 @@ Community Maintained Cars and Features
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric Premium SE 2020| SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric Limited 2019   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Kona 2017-19                  | SCC + LKAS        | Stock            | 22mph              | 0mph         |
+| Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata 2019                   | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Veloster 2019                 | SCC + LKAS        | Stock            | 5mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Kia       | Forte 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017                   | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2018-19<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2019<sup>2</sup>        | Propilot          | Stock            | 0mph               | 0mph         |
-| Nissan    | X-Trail 2017<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2018-19                  | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2019                    | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2017                  | Propilot          | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Forester 2019                 | EyeSight          | Stock            | 0mph               | 0mph         |

diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,10 @@
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
 Version 0.7.7 (2020-07-20)
 ========================
  * White panda is no longer supported, upgrade to comma two or black panda

diff --git a/SConstruct b/SConstruct
@@ -1,3 +1,5 @@
+import Cython
+import distutils
 import os
 import shutil
 import subprocess
@@ -12,6 +14,10 @@ AddOption('--asan',
           action='store_true',
           help='turn on ASAN')
 
+# Rebuild cython extensions if python, distutils, or cython change
+cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
+Export('cython_dependencies')
+
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"

diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
diff --git a/cereal/SConscript b/cereal/SConscript
@@ -1,35 +1,34 @@
-Import('env', 'arch', 'zmq')
+Import('env', 'arch', 'zmq', 'cython_dependencies')
+
+import shutil
 
 gen_dir = Dir('gen')
 messaging_dir = Dir('messaging')
 
 # TODO: remove src-prefix and cereal from command string. can we set working directory?
 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(
-  ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
-import shutil
+env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
+            ['car.capnp', 'log.capnp'],
+            'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
+
 if shutil.which('capnpc-java'):
-  env.Command(
-    ['gen/java/Car.java', 'gen/java/Log.java'],
-    ['car.capnp', 'log.capnp'],
-    'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
+  env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
+              ['car.capnp', 'log.capnp'],
+              'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
 
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([
-    'gen/cpp/car.capnp.c++',
-    'gen/cpp/log.capnp.c++',
-  ])
+  'gen/cpp/car.capnp.c++',
+  'gen/cpp/log.capnp.c++',
+])
 
 env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
 
 cereal_dir = Dir('.')
-services_h = env.Command(
-  ['services.h'],
-  ['service_list.yaml', 'services.py'],
-  'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+services_h = env.Command(['services.h'],
+                          ['service_list.yaml', 'services.py'],
+                          'python3 ' + cereal_dir.path + '/services.py > $TARGET')
 
 messaging_objects = env.SharedObject([
   'messaging/messaging.cc',
@@ -56,9 +55,9 @@ Depends('messaging/bridge.cc', services_h)
 #env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
 
 
-env.Command(['messaging/messaging_pyx.so'],
-  [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
-  "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
+env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
+            cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
+            "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
 
 
 if GetOption('test'):

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -112,9 +112,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     wrongCruiseMode @87;
     neosUpdateRequired @88;
     modeldLagging @89;
-    turningIndicatorOn @90;
-    lkasButtonOff @91;
-    autoLaneChange @92;
+    deviceFalling @90;
+    turningIndicatorOn @91;
+    lkasButtonOff @92;
+    autoLaneChange @93;
   }
 }
 
@@ -411,8 +412,7 @@ struct CarParams {
   mdpsBus @51: Int8;
   sasBus @52: Int8;
   sccBus @53: Int8;
-  autoLcaEnabled @54: Bool;
-  spasEnabled @55: Bool;
+  spasEnabled @54: Bool;
 
   struct LateralParams {
     torqueBP @0 :List(Int32);
@@ -482,6 +482,7 @@ struct CarParams {
     volkswagenPq @21;
     subaruLegacy @22;  # pre-Global platform
     hyundaiLegacy @23;
+    hyundaiCommunity @24;
   }
 
   enum SteerControlType {