commaai · geohot · May 2, 2018 · Feb 9, 2018 · Feb 10, 2018 · Feb 26, 2018
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,18 @@
+# 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)
+
diff --git a/LICENSE.openpilot → LICENSE b/LICENSE.openpilot → LICENSE
@@ -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:
 

diff --git a/README.md b/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) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
+Right now openpilot supports 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.
 
@@ -22,7 +22,7 @@ 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 2016-2017 with Honda Sensing
+- Honda Civic 2016-2018 with Honda Sensing
   - Due to limitations in steering firmware, steering is disabled below 12 mph
   - Note that the hatchback model is not supported
 
@@ -35,6 +35,12 @@ Supported Cars
 - Acura RDX 2018 with AcuraWatch Plus (alpha!)
   - Can only be enabled above 25 mph
 
+- Honda Pilot 2017 with Honda Sensing (alpha!)
+  - Can only be enabled above 27 mph
+
+- Honda Ridgeline 2017 with Honda Sensing (alpha!)
+  - Can only be enabled above 27 mph
+
 - Toyota RAV-4 2016+ non-hybrid with TSS-P
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
@@ -72,8 +78,6 @@ Community WIP Cars
 
 - [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
 
-- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
-
 Directory structure
 ------
 

diff --git a/README_chffrplus.md b/README_chffrplus.md
@@ -0,0 +1,36 @@
+Welcome to chffrplus
+======
+
+[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
+
+This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
+
+It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
+
+
+Hardware
+------
+
+Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
+
+Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
+
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default chffrplus creates an account and includes a client for chffr, our dashcam app.
+
+It's open source software, so you are free to disable it if you wish. 
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+It does not log the user facing camera or the microphone.
+
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+
+Licensing
+------
+
+chffrplus is released under the MIT license.
+
diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,50 @@
+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

diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
diff --git a/apk/external/com.waze.apkpatch b/apk/external/com.waze.apkpatch
diff --git a/apk/external/patcher.py b/apk/external/patcher.py
@@ -24,7 +24,7 @@
     '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',

diff --git a/cereal/.gitignore b/cereal/.gitignore
@@ -1 +1,3 @@
 gen
+node_modules
+package-lock.json
diff --git a/cereal/Makefile b/cereal/Makefile
@@ -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 '$@'
-
diff --git a/cereal/__init__.py b/cereal/__init__.py
@@ -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"))
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -1,7 +1,7 @@
-using Cxx = import "c++.capnp";
+using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Java = import "java.capnp";
+using Java = import "./include/java.capnp";
 $Java.package("ai.comma.openpilot.cereal");
 $Java.outerClassname("Car");
 
@@ -54,6 +54,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
+    plannerError @32;
+    ipasOverride @33;
+    debugAlert @34;
   }
 }
 
@@ -191,6 +194,7 @@ struct RadarState {
 struct CarControl {
   # must be true for any actuator commands to work
   enabled @0 :Bool;
+  active @7 :Bool;
 
   gasDEPRECATED @1 :Float32;
   brakeDEPRECATED @2 :Float32;
@@ -207,6 +211,7 @@ struct CarControl {
     brake @1: Float32;
     # range from -1.0 - 1.0
     steer @2: Float32;
+    steerAngle @3: Float32;
   }
 
   struct CruiseControl {
@@ -258,9 +263,9 @@ struct CarParams {
   radarNameDEPRECATED @1 :Text;
   carFingerprint @2 :Text;
 
-  enableSteer @3 :Bool;
-  enableGas @4 :Bool;
-  enableBrake @5 :Bool;
+  enableSteerDEPRECATED @3 :Bool;
+  enableGasInterceptor @4 :Bool;
+  enableBrakeDEPRECATED @5 :Bool;
   enableCruise @6 :Bool;
   enableCamera @26 :Bool;
   enableDsu @27 :Bool; # driving support unit
@@ -286,6 +291,9 @@ struct CarParams {
     honda @1;
     toyota @2;
     elm327 @3;
+    gm @4;
+    hondaBosch @5;
+    ford @6;
   }
 
   # things about the car in the manual
@@ -301,8 +309,12 @@ struct CarParams {
   tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
 
   # Kp and Ki for the lateral control
-  steerKp @15 :Float32;
-  steerKi @16 :Float32;
+  steerKpBP @42 :List(Float32);
+  steerKpV @43 :List(Float32);
+  steerKiBP @44 :List(Float32);
+  steerKiV @45 :List(Float32);
+  steerKpDEPRECATED @15 :Float32;
+  steerKiDEPRECATED @16 :Float32;
   steerKf @25 :Float32;
 
   # Kp and Ki for the longitudinal control

diff --git a/cereal/c++.capnp → cereal/include/c++.capnp b/cereal/c++.capnp → cereal/include/c++.capnp
diff --git a/cereal/java.capnp → cereal/include/java.capnp b/cereal/java.capnp → cereal/include/java.capnp