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chffrplus v0.4.7.2-release release

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George Hotz
George Hotz committed Jun 25, 2018
1 parent 865afd1 commit 39f6fc7bd886342dfe8ff7ef679f420e28e80028
Showing 554 changed files with 120,436 additions and 7,024 deletions.
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.ipynb_checkpoints
.idea
model2.png
a.out

*.DSYM
*.d
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selfdrive/ui/ui
/src/

one
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# How to contribute

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/)

## Getting Started

* Join our slack [slack.comma.ai](https://slack.comma.ai)
* Make sure you have a [GitHub account](https://github.com/signup/free)
* Fork the repository on GitHub

## Car Ports (openpilot)

We've released a guide for porting to Toyota cars [here](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6)

If you port openpilot to a substantially new car, you might be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)

@@ -1,4 +1,4 @@
Copyright (c) 2016, Comma.ai, Inc.
Copyright (c) 2018, Comma.ai, Inc.

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

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Version 0.4.7.2 (2018-06-25)
==========================
* Fix loggerd lag issue
* No longer prompt for updates
* Mitigate right lane hugging for properly mounted EON (procedure on wiki)

Version 0.4.7.1 (2018-06-18)
==========================
* Fix Acura ILX steer faults
* Fix bug in mock car

Version 0.4.7 (2018-06-15)
==========================
* New model!
* GM Volt (and CT6 lateral) support!
* Honda Bosch lateral support!
* Improve actuator modeling to reduce lateral wobble
* Minor refactor of car abstraction layer
* Hack around orbd startup issue

Version 0.4.6 (2018-05-18)
==========================
* NEOSv6 required! Will autoupdate
* Stability improvements
* Fix all memory leaks
* Update C++ compiler to clang6
* Improve front camera exposure

Version 0.4.5 (2018-04-27)
==========================
* Release notes added to the update popup
* Improve auto shut-off logic to disallow empty battery
* Added onboarding instructions
* Include orbd, the first piece of new calibration algorithm
* Show remaining upload data instead of file numbers
* Fix UI bugs
* Fix memory leaks

Version 0.4.4 (2018-04-13)
==========================
* EON are flipped! Flip your EON's mount!
* Alpha Honda Ridgeline support thanks to energee!
* Support optional front camera recording
* Upload over cellular toggle now applies to all files, not just video
* Increase acceleration when closing lead gap
* User now prompted for future updates
* NEO no longer supported :(

Version 0.4.3.2 (2018-03-29)
============================
* Improve autofocus
* Improve driving when only one lane line is detected
* Added fingerprint for Toyota Corolla LE
* Fixed Toyota Corolla steer error
* Full-screen driving UI
* Improved path drawing

Version 0.4.3.1 (2018-03-19)
============================
* Improve autofocus
* Add check for MPC solution error
* Make first distracted warning visual only

Version 0.4.3 (2018-03-13)
==========================
* Add HDR and autofocus
* Update UI aesthetic
* Grey panda works in Waze
* Add alpha support for 2017 Honda Pilot
* Slight increase in acceleration response from stop
* Switch CAN sending to use CANPacker
* Fix pulsing acceleration regression on Honda
* Fix openpilot bugs when stock system is in use
* Change starting logic for chffrplus to use battery voltage

Version 0.4.2 (2018-02-05)
==========================
* Add alpha support for 2017 Lexus RX Hybrid
* Add alpha support for 2018 ACURA RDX
* Updated fingerprint to include Toyota Rav4 SE and Prius Prime
* Bugfixes for Acura ILX and Honda Odyssey

Version 0.4.1 (2018-01-30)
==========================
* Add alpha support for 2017 Toyota Corolla
* Add alpha support for 2018 Honda Odyssey with Honda Sensing
* Add alpha support for Grey Panda
* Refactored car abstraction layer to make car ports easier
* Increased steering torque limit on Honda CR-V by 30%

Version 0.4.0.2 (2018-01-18)
==========================
* Add focus adjustment slider
* Minor bugfixes

Version 0.4.0.1 (2017-12-21)
==========================
* New UI to match chffrplus
* Improved lateral control tuning to fix oscillations on Civic
* Add alpha support for 2017 Toyota Rav4 Hybrid
* Reduced CPU usage
* Removed unnecessary utilization of fan at max speed
* Minor bug fixes

Version 0.3.9 (2017-11-21)
==========================
* Add alpha support for 2017 Toyota Prius
* Improved longitudinal control using model predictive control
* Enable Forward Collision Warning
* Acura ILX now maintains openpilot engaged at standstill when brakes are applied

Version 0.3.8.2 (2017-10-30)
==========================
* Add alpha support for 2017 Toyota RAV4
* Smoother lateral control
* Stay silent if stock system is connected through giraffe
* Minor bug fixes

Version 0.3.7 (2017-09-30)
==========================
* Improved lateral control using model predictive control
* Improved lane centering
* Improved GPS
* Reduced tendency of path deviation near right side exits
* Enable engagement while the accelerator pedal is pressed
* Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
* Disable engagement when park brake or brake hold are active
* Fixed sporadic longitudinal pulsing in Civic
* Cleanups to vehicle interface

Version 0.3.6.1 (2017-08-15)
============================
* Mitigate low speed steering oscillations on some vehicles
* Include board steering check for CR-V

Version 0.3.6 (2017-08-08)
==========================
* Fix alpha CR-V support
* Improved GPS
* Fix display of target speed not always matching HUD
* Increased acceleration after stop
* Mitigated some vehicles driving too close to the right line

Version 0.3.5 (2017-07-30)
==========================
* Fix bug where new devices would not begin calibration
* Minor robustness improvements

Version 0.3.4 (2017-07-28)
==========================
* Improved model trained on more data
* Much improved controls tuning
* Performance improvements
* Bugfixes and improvements to calibration
* Driving log can play back video
* Acura only: system now stays engaged below 25mph as long as brakes are applied

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

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

Version 0.3.1 (2017-05-17)
===========================
* 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

Version 0.2.9 (2017-03-01)
===========================
* Retain compatibility with NEOS v1

Version 0.2.8 (2017-02-27)
===========================
* 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

Version 0.2.6 (2017-01-31)
===========================
* Fix bug in visiond model execution

Version 0.2.5 (2017-01-30)
===========================
* Fix race condition in manager

Version 0.2.4 (2017-01-27)
===========================
* 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

Version 0.2.2 (2017-01-10)
===========================
* 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

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

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
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'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
'patch': 'com.waze.apkpatch',
'out_sha256': '9ec8b0ea3c78c666342865b1bfb66e368a3f5c911df2ad12835206ec8b19f444'
'out_sha256': 'fee880a91a44c738442cd05fd1b6d9b5817cbf755aa61c86325ada2bc443d5cf'
},
'com.spotify.music': {
'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',
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gen
node_modules
package-lock.json
@@ -3,38 +3,46 @@ PWD := $(shell pwd)
SRCS := log.capnp car.capnp

GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
JS := gen/js/car.capnp.js gen/js/log.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/c++.capnp.h gen/c/java.capnp.h
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h

# Dont build java on the phone...
ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
endif
ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
endif

endif

ifeq ($(UNAME_M),aarch64)
CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
else
CAPNPC=capnpc
CAPNPC=capnpc
endif

.PHONY: all
all: $(GENS)
js: $(JS)

.PHONY: clean
clean:
rm -rf gen
rm -rf node_modules
rm -rf package-lock.json

gen/c/%.capnp.c: %.capnp
@echo "[ CAPNPC C ] $@"
mkdir -p gen/c/
$(CAPNPC) '$<' -o c:gen/c/

gen/js/%.capnp.js: %.capnp
@echo "[ CAPNPC JavaScript ] $@"
mkdir -p gen/js/
sh ./generate_javascript.sh

gen/cpp/%.capnp.c++: %.capnp
@echo "[ CAPNPC C++ ] $@"
mkdir -p gen/cpp/
@@ -46,7 +54,6 @@ gen/java/Car.java gen/java/Log.java: $(SRCS)
$(CAPNPC) $^ -o java:gen/java

# c-capnproto needs some empty headers
gen/c/c++.capnp.h gen/c/java.capnp.h:
mkdir -p gen/c/
gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
mkdir -p gen/c/include
touch '$@'

@@ -4,17 +4,5 @@
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
capnp.remove_import_hook()

if os.getenv("NEWCAPNP"):
import tempfile
import pyximport

importers = pyximport.install(build_dir=os.path.join(tempfile.gettempdir(), ".pyxbld"))
try:
import cereal.gen.cython.log_capnp_cython as log
import cereal.gen.cython.car_capnp_cython as car
finally:
pyximport.uninstall(*importers)
del importers
else:
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
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