openpilot v0.3.8.2 release

Dockerfile.openpilot

@@ -16,4 +16,4 @@ COPY ./selfdrive /tmp/openpilot/selfdrive
 COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra
 
-RUN mkdir /tmp/openpilot/selfdrive/test/out
+RUN mkdir -p /tmp/openpilot/selfdrive/test/out

Makefile

@@ -1,6 +1,9 @@
-.PHONY: all
 
-# TODO: Add a global build system to openpilot
+code_dir := $(shell pwd)
+
+# TODO: Add a global build system
+
+.PHONY: all
 all:
-	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
 

README.md

@@ -12,7 +12,7 @@ Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://ww
 Hardware
 ------
 
-Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
+Right now openpilot supports the [NEO research platform](http://github.com/commaai/neo) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
 
 Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
@@ -26,15 +26,25 @@ Supported Cars
   - Due to limitations in steering firmware, steering is disabled below 12 mph
   - Note that the hatchback model is not supported
 
-- Honda CR-V Touring 2015-2016 (very alpha!)
+- Honda CR-V Touring 2015-2016
   - Can only be enabled above 25 mph
 
+- Toyota RAV-4 2016+ with TSS-P (alpha!)
+  - Can only be enabled above 20 mph
+
 In Progress Cars
 ------
 
+- Toyota Prius 2017
+
+- Probably all TSS-P Toyota
+
+Community Ported Cars
+------
+
 - Chevy Volt 2016-2018 Premier with Driver Confidence II
 
-- All 2017 Toyota Prius, Corolla, and RAV4
+- Classic Tesla Model S (pre-AP)
 
 Directory structure
 ------

RELEASES.md

@@ -1,3 +1,9 @@
+Version 0.3.8.2 (2017-10-30)
+==========================
+ * Add alpha support for 2017 Toyota RAV4
+ * 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

cereal/Makefile

@@ -1,8 +1,9 @@
+PWD := $(shell pwd)
+
 SRCS := log.capnp car.capnp
 
 GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
 
-
 UNAME_M ?= $(shell uname -m)
 
 # only generate C++ for docker tests
@@ -16,6 +17,12 @@ endif
 
 endif
 
+ifeq ($(UNAME_M),aarch64)
+CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+else
+CAPNPC=capnpc
+endif
+
 .PHONY: all
 all: $(GENS)
 
@@ -26,17 +33,17 @@ clean:
 gen/c/%.capnp.c: %.capnp
 	@echo "[ CAPNPC C ] $@"
 	mkdir -p gen/c/
-	capnpc '$<' -o c:gen/c/
+	$(CAPNPC) '$<' -o c:gen/c/
 
 gen/cpp/%.capnp.c++: %.capnp
 	@echo "[ CAPNPC C++ ] $@"
 	mkdir -p gen/cpp/
-	capnpc '$<' -o c++:gen/cpp/
+	$(CAPNPC) '$<' -o c++:gen/cpp/
 
 gen/java/Car.java gen/java/Log.java: $(SRCS)
 	@echo "[ CAPNPC java ] $@"
 	mkdir -p gen/java/
-	capnpc $^ -o java:gen/java
+	$(CAPNPC) $^ -o java:gen/java
 
 # c-capnproto needs some empty headers
 gen/c/c++.capnp.h gen/c/java.capnp.h:

cereal/car.capnp

@@ -51,6 +51,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     modelCommIssue @27;
     brakeHold @28;
     parkBrake @29;
+    manualRestart @30;
+    lowSpeedLockout @31;
   }
 }
 
@@ -63,6 +65,9 @@ struct CarState {
 
   # car speed
   vEgo @1 :Float32;       # best estimate of speed
+  aEgo @16 :Float32;       # best estimate of acceleration
+  vEgoRaw @17 :Float32;       # unfiltered speed
+  standstill @18 :Bool;
   wheelSpeeds @2 :WheelSpeeds;
 
   # gas pedal, 0.0-1.0
@@ -75,6 +80,7 @@ struct CarState {
 
   # steering wheel
   steeringAngle @7 :Float32;   # deg
+  steeringRate @15 :Float32;   # deg/s
   steeringTorque @8 :Float32;  # TODO: standardize units
   steeringPressed @9 :Bool;    # if the user is using the steering wheel
 
@@ -242,6 +248,9 @@ struct CarParams {
   enableGas @4 :Bool;
   enableBrake @5 :Bool;
   enableCruise @6 :Bool;
+  enableCamera @27 :Bool;
+  enableDsu @28 :Bool; # driving support unit
+  enableApgs @29 :Bool; # advanced parking guidance system
 
   minEnableSpeed @18 :Float32;
   safetyModel @19 :Int16;
@@ -254,10 +263,11 @@ struct CarParams {
   brakeMaxV @25 :List(Float32);
 
   enum SafetyModels {
-    # from board
-    default @0;
+    # does NOT match board setting
+    noOutput @0;
     honda @1;
     toyota @2;
+    elm327 @3;
   }
 
   # things about the car in the manual
@@ -276,7 +286,9 @@ struct CarParams {
   # Kp and Ki for the lateral control
   steerKp @16 :Float32;
   steerKi @17 :Float32;
+  steerKf @26 :Float32;
+
+  steerLimitAlert @30 :Bool;
 
   # TODO: Kp and Ki for long control, perhaps not needed?
 }
-

cereal/log.capnp

@@ -36,6 +36,7 @@ struct InitData {
   pandaInfo @8 :PandaInfo;
 
   dirty @9 :Bool;
+  passive @12 :Bool;
 
   enum DeviceType {
     unknown @0;
@@ -327,8 +328,11 @@ struct Live100Data {
   mdMonoTimeDEPRECATED @18 :UInt64;
   planMonoTime @28 :UInt64;
 
+  state @31 :ControlState;
   vEgo @0 :Float32;
+  vEgoRaw @32 :Float32;
   aEgoDEPRECATED @1 :Float32;
+  longControlState @30 :LongControlState;
   vPid @2 :Float32;
   vTargetLead @3 :Float32;
   upAccelCmd @4 :Float32;
@@ -356,6 +360,20 @@ struct Live100Data {
   awarenessStatus @26 :Float32;
 
   angleOffset @27 :Float32;
+
+  enum ControlState {
+    disabled @0;
+    preEnabled @1;
+    enabled @2;
+    softDisabling @3;
+  }
+
+  enum LongControlState {
+    off @0;
+    pid @1;
+    stopping @2;
+    starting @3;
+  }
 }
 
 struct LiveEventData {
@@ -370,6 +388,7 @@ struct ModelData {
   leftLane @2 :PathData;
   rightLane @3 :PathData;
   lead @4 :LeadData;
+  leadNew @6 :List(Float32);
 
   settings @5 :ModelSettings;
 
@@ -454,11 +473,13 @@ struct Plan {
   # longitudinal
   longitudinalValid @2 :Bool;
   vTarget @3 :Float32;
+  vTargetFuture @14 :Float32;
   aTargetMin @4 :Float32;
   aTargetMax @5 :Float32;
   jerkFactor @6 :Float32;
   hasLead @7 :Bool;
   fcw @8 :Bool;
+  longitudinalPlanSource @15 :LongitudinalPlanSource;
 
   # gps trajectory in car frame
   gpsTrajectory @12 :GpsTrajectory;
@@ -467,6 +488,12 @@ struct Plan {
     x @0 :List(Float32);
     y @1 :List(Float32);
   }
+
+  enum LongitudinalPlanSource {
+    cruise @0;
+    mpc1 @1;
+    mpc2 @2;
+  }
 }
 
 struct LiveLocationData {
@@ -1073,6 +1100,7 @@ struct UbloxGnss {
   union {
     measurementReport @0 :MeasurementReport;
     ephemeris @1 :Ephemeris;
+    ionoData @2 :IonoData;
   }
 
   struct MeasurementReport {
@@ -1175,9 +1203,24 @@ struct UbloxGnss {
 
     transmissionTime @34 :Float64;
     fitInterval @35 :Float64;
+
+    toc @36 :Float64;
+  }
+
+  struct IonoData {
+    svHealth @0 :UInt32;
+    tow  @1 :Float64;
+    gpsWeek @2 :Float64;
+
+    ionoAlpha @3 :List(Float64);
+    ionoBeta @4 :List(Float64);
+
+    healthValid @5 :Bool;
+    ionoCoeffsValid @6 :Bool;
   }
 }
 
+
 struct Clocks {
   bootTimeNanos @0 :UInt64;
   monotonicNanos @1 :UInt64;
@@ -1191,6 +1234,21 @@ struct LiveMpcData {
   y @1 :List(Float32);
   psi @2 :List(Float32);
   delta @3 :List(Float32);
+  qpIterations @4 :UInt32;
+  calculationTime @5 :UInt64;
+}
+
+struct LiveLongitudinalMpcData {
+  xEgo @0 :List(Float32);
+  vEgo @1 :List(Float32);
+  aEgo @2 :List(Float32);
+  xLead @3 :List(Float32);
+  vLead @4 :List(Float32);
+  aLead @5 :List(Float32);
+  aLeadTau @6 :Float32;    # lead accel time constant
+  qpIterations @7 :UInt32;
+  mpcId @8 :UInt32;
+  calculationTime @9 :UInt64;
 }
 
 struct Event {
@@ -1234,5 +1292,6 @@ struct Event {
     ubloxGnss @34 :UbloxGnss;
     clocks @35 :Clocks;
     liveMpc @36 :LiveMpcData;
+    liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
   }
 }

common/dbc.py

@@ -192,4 +192,15 @@ def decode(self, x, arr=None, debug=False):
       else:
         out[arr.index(s[0])] = ival
     return name, out
+
+
+  def get_signals(self, msg):
+    return [sgs.name for sgs in self.msgs[msg][1]]
 
+if __name__ == "__main__":
+   import sys
+   import os
+   from opendbc import DBC_PATH
+
+   dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
+   print dbc_test.get_signals(0xe4)

common/fingerprints.py

@@ -11,19 +11,23 @@
     # sent messages
     0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
   },
-  "HONDA ACCORD 2016 TOURING": {
-    1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
-  },
   "HONDA CR-V 2016 TOURING": {
     57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
     # sent messages
     0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
   },
-  "TOYOTA PRIUS 2017": {
-    896L: 8, 832L: 8, 898L: 8, 899L: 8, 577L: 8, 528L: 8, 529L: 8, 530L: 8, 531L: 8, 532L: 8, 533L: 8, 534L: 8, 535L: 8, 536L: 8, 537L: 8, 538L: 8, 539L: 8, 540L: 8, 541L: 8, 542L: 8, 543L: 8, 544L: 8, 545L: 8, 546L: 8, 547L: 8, 548L: 8, 549L: 8, 550L: 8, 551L: 8, 296L: 6, 553L: 6, 554L: 6, 555L: 6, 556L: 6, 557L: 6, 558L: 6, 559L: 6, 560L: 7, 561L: 8, 562L: 8, 883L: 8, 837L: 8, 833L: 8, 576L: 8, 321L: 4, 834L: 8, 835L: 8, 580L: 8, 581L: 8, 897L: 8, 584L: 8, 1136L: 4, 976L: 8, 977L: 8, 978L: 8, 291L: 7, 881L: 8, 352L: 8, 353L: 7, 867L: 8, 868L: 8, 869L: 8, 1126L: 3, 304L: 7, 880L: 8, 552L: 6, 882L: 8, 979L: 8, 884L: 8, 885L: 8, 836L: 8
-  }
+  "TOYOTA RAV4 2017": {
+    36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
+  },
 }
 
+# support additional internal only fingerprints
+try:
+  from common.fingerprints_internal import add_additional_fingerprints
+  add_additional_fingerprints(_FINGERPRINTS)
+except ImportError:
+  pass
+
 def eliminate_incompatible_cars(msg, candidate_cars):
   """Removes cars that could not have sent msg.
 
@@ -50,36 +54,3 @@ def all_known_cars():
   """Returns a list of all known car strings."""
   return _FINGERPRINTS.keys()
 
-# **** for use live only ****
-def fingerprint(logcan):
-  import selfdrive.messaging as messaging
-  from cereal import car
-  from common.realtime import sec_since_boot
-
-  if os.getenv("SIMULATOR") is not None or logcan is None:
-    return ("simulator", None)
-  elif os.getenv("SIMULATOR2") is not None:
-    return ("simulator2", None)
-
-  print "waiting for fingerprint..."
-  candidate_cars = all_known_cars()
-  finger = {}
-  st = None
-  while 1:
-    for a in messaging.drain_sock(logcan, wait_for_one=True):
-      if st is None:
-        st = sec_since_boot()
-      for can in a.can:
-        if can.src == 0:
-          finger[can.address] = len(can.dat)
-        candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
-
-    # if we only have one car choice and it's been 100ms since we got our first message, exit
-    if len(candidate_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
-      break
-    elif len(candidate_cars) == 0:
-      print map(hex, finger.keys())
-      raise Exception("car doesn't match any fingerprints")
-
-  print "fingerprinted", candidate_cars[0]
-  return (candidate_cars[0], finger)