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openpilot v0.3.7 release

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Vehicle Researcher
Vehicle Researcher committed Sep 30, 2017
1 parent 94fe677 commit daf54ad54d6356d35061ea2864d6397dc6184f3f
Showing with 20,576 additions and 1,742 deletions.
  1. +2 −2 .travis.yml
  2. +9 −3 Dockerfile.openpilot
  3. +9 −1 README.md
  4. +15 −3 RELEASES.md
  5. +44 −3 cereal/Makefile
  6. +0 −45 cereal/build_from_src.mk
  7. +130 −57 cereal/car.capnp
  8. +127 −60 cereal/log.capnp
  9. +4 −0 common/basedir.py
  10. +1 −1 common/crash.py
  11. +3 −0 common/fingerprints.py
  12. +42 −9 common/params.py
  13. +6 −0 common/profiler.py
  14. +1 −1 opendbc
  15. +1 −1 panda
  16. +74 −0 phonelibs/qpoases/EXAMPLES/example1.cpp
  17. +69 −0 phonelibs/qpoases/EXAMPLES/example1b.cpp
  18. +189 −0 phonelibs/qpoases/INCLUDE/Bounds.hpp
  19. +108 −0 phonelibs/qpoases/INCLUDE/Constants.hpp
  20. +181 −0 phonelibs/qpoases/INCLUDE/Constraints.hpp
  21. +126 −0 phonelibs/qpoases/INCLUDE/CyclingManager.hpp
  22. +107 −0 phonelibs/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp
  23. +154 −0 phonelibs/qpoases/INCLUDE/Indexlist.hpp
  24. +415 −0 phonelibs/qpoases/INCLUDE/MessageHandling.hpp
  25. +666 −0 phonelibs/qpoases/INCLUDE/QProblem.hpp
  26. +628 −0 phonelibs/qpoases/INCLUDE/QProblemB.hpp
  27. +178 −0 phonelibs/qpoases/INCLUDE/SubjectTo.hpp
  28. +131 −0 phonelibs/qpoases/INCLUDE/Types.hpp
  29. +197 −0 phonelibs/qpoases/INCLUDE/Utils.hpp
  30. +504 −0 phonelibs/qpoases/LICENSE.txt
  31. +92 −0 phonelibs/qpoases/README.txt
  32. +252 −0 phonelibs/qpoases/SRC/Bounds.cpp
  33. +144 −0 phonelibs/qpoases/SRC/Bounds.ipp
  34. +248 −0 phonelibs/qpoases/SRC/Constraints.cpp
  35. +144 −0 phonelibs/qpoases/SRC/Constraints.ipp
  36. +188 −0 phonelibs/qpoases/SRC/CyclingManager.cpp
  37. +51 −0 phonelibs/qpoases/SRC/CyclingManager.ipp
  38. +434 −0 phonelibs/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp
  39. +342 −0 phonelibs/qpoases/SRC/Indexlist.cpp
  40. +85 −0 phonelibs/qpoases/SRC/Indexlist.ipp
  41. +529 −0 phonelibs/qpoases/SRC/MessageHandling.cpp
  42. +137 −0 phonelibs/qpoases/SRC/MessageHandling.ipp
  43. +3,867 −0 phonelibs/qpoases/SRC/QProblem.cpp
  44. +299 −0 phonelibs/qpoases/SRC/QProblem.ipp
  45. +2,151 −0 phonelibs/qpoases/SRC/QProblemB.cpp
  46. +425 −0 phonelibs/qpoases/SRC/QProblemB.ipp
  47. +200 −0 phonelibs/qpoases/SRC/SubjectTo.cpp
  48. +132 −0 phonelibs/qpoases/SRC/SubjectTo.ipp
  49. +471 −0 phonelibs/qpoases/SRC/Utils.cpp
  50. +51 −0 phonelibs/qpoases/SRC/Utils.ipp
  51. +87 −0 phonelibs/qpoases/VERSIONS.txt
  52. +1 −1 pyextra
  53. +3 −2 run_docker_tests.sh
  54. +7 −2 selfdrive/boardd/Makefile
  55. +105 −27 selfdrive/boardd/boardd.cc
  56. +4 −1 selfdrive/boardd/boardd.py
  57. +3 −2 selfdrive/can/Makefile
  58. +11 −2 selfdrive/can/{parser_common.h → common.h}
  59. +26 −0 selfdrive/can/dbc.cc
  60. +1 −1 selfdrive/can/dbc_template.cc
  61. +51 −0 selfdrive/can/libdbc_py.py
  62. +81 −0 selfdrive/can/packer.cc
  63. +37 −0 selfdrive/can/packer.py
  64. +11 −21 selfdrive/can/parser.cc
  65. +1 −39 selfdrive/can/parser.py
  66. +6 −0 selfdrive/car/__init__.py
  67. +26 −60 selfdrive/car/honda/carcontroller.py
  68. +103 −40 selfdrive/car/honda/carstate.py
  69. +172 −61 selfdrive/car/honda/interface.py
  70. +5 −3 selfdrive/car/honda/{can_parser.py → old_can_parser.py}
  71. +16 −4 selfdrive/common/cereal.mk
  72. +20 −0 selfdrive/common/mat.h
  73. +23 −2 selfdrive/common/{params.c → params.cc}
  74. +1 −3 selfdrive/common/params.h
  75. +36 −0 selfdrive/common/swaglog.h
  76. +14 −1 selfdrive/common/timing.h
  77. +11 −0 selfdrive/common/util.c
  78. +14 −0 selfdrive/common/util.h
  79. +4 −0 selfdrive/common/utilpp.h
  80. +1 −1 selfdrive/common/version.h
  81. +5 −4 selfdrive/common/visionipc.c
  82. +8 −8 selfdrive/common/visionipc.h
  83. +435 −391 selfdrive/controls/controlsd.py
  84. +2 −10 selfdrive/controls/lib/adaptivecruise.py
  85. +320 −74 selfdrive/controls/lib/alertmanager.py
  86. +30 −0 selfdrive/controls/lib/drive_helpers.py
  87. +67 −120 selfdrive/controls/lib/latcontrol.py
  88. +89 −0 selfdrive/controls/lib/latcontrol_helpers.py
  89. +75 −0 selfdrive/controls/lib/lateral_mpc/Makefile
  90. 0 selfdrive/controls/lib/lateral_mpc/__init__.py
  91. +137 −0 selfdrive/controls/lib/lateral_mpc/generator.cpp
  92. +30 −0 selfdrive/controls/lib/lateral_mpc/libmpc_py.py
  93. +100 −0 selfdrive/controls/lib/lateral_mpc/mpc.c
  94. +212 −0 selfdrive/controls/lib/lateral_mpc/mpc_export/acado_auxiliary_functions.c
  95. +138 −0 selfdrive/controls/lib/lateral_mpc/mpc_export/acado_auxiliary_functions.h
  96. +349 −0 selfdrive/controls/lib/lateral_mpc/mpc_export/acado_common.h
  97. +252 −0 selfdrive/controls/lib/lateral_mpc/mpc_export/acado_integrator.c
  98. +70 −0 selfdrive/controls/lib/lateral_mpc/mpc_export/acado_qpoases_interface.cpp
  99. +65 −0 selfdrive/controls/lib/lateral_mpc/mpc_export/acado_qpoases_interface.hpp
  100. +1,981 −0 selfdrive/controls/lib/lateral_mpc/mpc_export/acado_solver.c
  101. +72 −154 selfdrive/controls/lib/longcontrol.py
  102. +34 −68 selfdrive/controls/lib/pathplanner.py
  103. +91 −0 selfdrive/controls/lib/pid.py
  104. +42 −29 selfdrive/controls/lib/planner.py
  105. +26 −23 selfdrive/controls/lib/vehicle_model.py
  106. +5 −4 selfdrive/controls/radard.py
  107. +15 −6 selfdrive/debug/can_printer.py
  108. +1 −1 selfdrive/debug/dump.py
  109. +6 −6 selfdrive/debug/getframes/getframes.py
  110. +3 −2 selfdrive/debug/test_carcontroller.py
  111. +3 −1 selfdrive/debug/test_carstate.py
  112. +1 −0 selfdrive/logcatd/Makefile
  113. +6 −1 selfdrive/loggerd/config.py
  114. BIN selfdrive/loggerd/loggerd
  115. +115 −55 selfdrive/manager.py
  116. +1 −0 selfdrive/proclogd/Makefile
  117. +31 −45 selfdrive/radar/nidec/interface.py
  118. BIN selfdrive/sensord/sensord
  119. +3 −0 selfdrive/service_list.yaml
  120. +2 −0 selfdrive/test/plant/maneuver.py
  121. +17 −16 selfdrive/test/plant/plant.py
  122. +122 −0 selfdrive/test/plant/plant_ui.py
  123. +0 −14 selfdrive/test/plant/runtest.sh
  124. +0 −207 selfdrive/test/plant/runtracks.py
  125. +19 −19 selfdrive/test/test_openpilot.py
  126. 0 selfdrive/test/tests/plant/__init__.py
  127. +255 −0 selfdrive/test/tests/plant/test_longitudinal.py
  128. +2 −1 selfdrive/ui/Makefile
  129. +95 −24 selfdrive/ui/ui.c
  130. BIN selfdrive/visiond/visiond
@@ -8,5 +8,5 @@ install:

script:
- docker run --rm
-v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'
-v "$(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'
@@ -1,13 +1,19 @@
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

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 pip install numpy==1.11.2 scipy==0.18.1 matplotlib

COPY requirements_openpilot.txt /tmp/
RUN pip install -r /tmp/requirements_openpilot.txt

ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH

COPY . /tmp/openpilot
COPY ./common /tmp/openpilot/common
COPY ./cereal /tmp/openpilot/cereal
COPY ./opendbc /tmp/openpilot/opendbc
COPY ./selfdrive /tmp/openpilot/selfdrive
COPY ./phonelibs /tmp/openpilot/phonelibs
COPY ./pyextra /tmp/openpilot/pyextra

RUN mkdir /tmp/openpilot/selfdrive/test/out
@@ -22,12 +22,20 @@ Supported Cars
- Acura ILX 2016 with AcuraWatch Plus
- Due to use of the cruise control for gas, it can only be enabled above 25 mph

- Honda Civic 2016 with Honda Sensing
- Honda Civic 2016-2017 with Honda Sensing
- 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!)
- Can only be enabled above 25 mph

In Progress Cars
------

- Chevy Volt 2016-2018 Premier with Driver Confidence II

- All 2017 Toyota Prius, Corolla, and RAV4

Directory structure
------

@@ -1,6 +1,18 @@
Version 0.3.6.1 (2017-08-15)
============================
* Mitigate low speed steering oscillations on some vehicles
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)
@@ -1,4 +1,45 @@
-include build_from_src.mk
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
ifneq ($(OPTEST),1)
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h

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

endif

.PHONY: all
all: $(GENS)

.PHONY: clean
clean:
rm -rf gen

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

gen/cpp/%.capnp.c++: %.capnp
@echo "[ CAPNPC C++ ] $@"
mkdir -p gen/cpp/
capnpc '$<' -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

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

release:
@echo "cereal: this is a release"

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