Merge pull request commaai#137 from commaai/devel

version bump clean

.gitignore

@@ -20,16 +20,17 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-lane.cpp
-loc*.cpp
 config.json
 clcache
 
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
+selfdrive/test/tests/plant/out
+selfdrive/visiond/visiond
 /src/
 
 one

.travis.yml

@@ -7,6 +7,8 @@ install:
   - docker build -t tmppilot -f Dockerfile.openpilot .
 
 script:
-  - docker run --rm
+  - docker run
       -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'
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'

CONTRIBUTING.md

@@ -2,17 +2,17 @@
 
 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/)
+Most open source development activity is coordinated through our [Discord](https://discord.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)
+ * Join our [Discord](https://discord.comma.ai)
  * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork the repository on GitHub
+ * Fork [our repositories](https://github.com/commaai) 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)
+We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
 
-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)
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
 

Dockerfile.openpilot

@@ -1,8 +1,27 @@
 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 libusb-1.0-0
-RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
+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 \
+    libssl-dev \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers
+
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
 
 COPY requirements_openpilot.txt /tmp/
 RUN pip install -r /tmp/requirements_openpilot.txt
@@ -17,3 +36,5 @@ COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra
 
 RUN mkdir -p /tmp/openpilot/selfdrive/test/out
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean

RELEASES.md

@@ -1,3 +1,98 @@
+Version 0.5.10 (2019-03-19)
+========================
+ * Self-tuning vehicle parameters: steering offset, tires stiffness and steering ratio
+ * Improve longitudinal control at low speed when lead vehicle harshly decelerates
+ * Fix panda bug going unexpectedly in DCP mode when EON is connected
+ * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
+ * New Driver Monitoring Model
+ * Support QR codes for login using comma connect
+ * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. 
+   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. 
+ * Additional speed limit rules for Germany thanks to arne182
+ * Allow negative speed limit offsets
+
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+ * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
+
+Version 0.5.8 (2019-01-17)
+========================
+ * Open sourced visiond
+ * Auto-slowdown for upcoming turns
+ * Chrysler/Jeep/Fiat support thanks to adhintz!
+ * Honda Civic 2019 support thanks to csouers!
+ * Improve use of car display in Toyota thanks to arne182!
+ * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
+ * EON stops charging when 12V battery drops below 11.8V
+
+Version 0.5.7 (2018-12-06)
+========================
+ * Speed limit from OpenStreetMap added to UI
+ * Highlight speed limit when speed exceeds road speed limit plus a delta
+ * Option to limit openpilot max speed to road speed limit plus a delta
+ * Cadillac ATS support thanks to vntarasov!
+ * GMC Acadia support thanks to CryptoKylan!
+ * Decrease GPU power consumption
+ * NEOSv8 autoupdate
+
+Version 0.5.6 (2018-11-16)
+========================
+ * Refresh settings layout and add feature descriptions
+ * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
+ * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
+ * Improve camera calibration stability
+ * More tuning to Honda positive accelerations
+ * Reduce brake pump use on Hondas
+ * Chevrolet Malibu support thanks to tylergets!
+ * Holden Astra support thanks to AlexHill!
+
+Version 0.5.5 (2018-10-20)
+========================
+ * Increase allowed Honda positive accelerations
+ * Fix sporadic unexpected braking when passing semi-trucks in Toyota
+ * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
+
+Version 0.5.4 (2018-09-25)
+========================
+ * New Driving Model
+ * New Driver Monitoring Model
+ * Improve longitudinal mpc in mid-low speed braking
+ * Honda Accord hybrid support thanks to energee!
+ * Ship mpc binaries and sensibly reduce build time
+ * Calibration more stable
+ * More Hyundai and Kia cars supported thanks to emmertex!
+ * Various GM Volt improvements thanks to vntarasov!
+
+Version 0.5.3 (2018-09-03)
+========================
+ * Hyundai Santa Fe support!
+ * Honda Pilot 2019 support thanks to energee!
+ * Toyota Highlander support thanks to daehahn!
+ * Improve steering tuning for Honda Odyssey
+
+Version 0.5.2 (2018-08-16)
+========================
+ * New calibration: more accurate, a lot faster, open source!
+ * Enable orbd
+ * Add little endian support to CAN packer
+ * Fix fingerprint for Honda Accord 1.5T
+ * Improve driver monitoring model
+
+Version 0.5.1 (2018-08-01)
+========================
+ * Fix radar error on Civic sedan 2018
+ * Improve thermal management logic
+ * Alpha Toyota C-HR and Camry support!
+ * Auto-switch Driver Monitoring to 3 min counter when inaccurate
+
 Version 0.5 (2018-07-11)
 ========================
  * Driver Monitoring (beta) option in settings!

SAFETY.md

@@ -6,7 +6,10 @@ Like other ACC and LKA systems, openpilot requires the driver to be alert and to
 pay attention at all times. We repeat, **driver alertness is necessary, but not 
 sufficient, for openpilot to be used safely**.
 
-Even with an attentive driver, we must make further efforts for the system to be
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.
+
+However, even with an attentive driver, we must make further efforts for the system to be
 safe. We have designed openpilot with two other safety considerations.
 
 1. The driver must always be capable to immediately retake manual control of the vehicle, 
@@ -20,54 +23,116 @@ Following are details of the car specific safety implementations:
 Honda/Acura
 ------
 
-  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
     the stock system.
 
   - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
     The PCM limits acceleration to what is reasonable for a cruise control system.  With an
     interceptor, the gas is clipped to 60%.
 
   - The brake is controlled by the 0x1FA CAN message. This message allows full
-    braking, although the board and the software clip it to 1/4th of the max.
-    This is around .3g of braking.
+    braking, although the panda firmware and openpilot clip it to 1/4th of the max.
+    This is approximately 0.3g of braking.
 
   - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
     controller in the car limits the torque to a very small amount, so regardless of the 
     message, the controller cannot jerk the wheel.
 
   - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
-    either signal triggers a disengagement, which is enforced by the board and in software. The
-    green led on the board signifies if the board is allowing control messages.
+    either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
+    white led on the panda signifies if the panda is allowing control messages.
 
   - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
     replay of the same message.
 
 Toyota/Lexus
 ------
 
-  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
     the stock system.
 
-  - With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled 
-    by the stock system and is subject to the stock adaptive cruise control limits. Without the
-    stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
-    value is limited by the board and the software to between .3g of deceleration and .15g of
-    acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
-    cruise control system is disengaged.
-
-  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
-    software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
-    commands outside these limits.  A steering torque rate limit is enforced by the board and in
-    software so that the commanded steering torque must rise from 0 to max value no faster than
-    1.5s. Commanded steering torque is limited by the board and in software to be no more than 350
+  - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
+    the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
+    control limits. Without the stock DSU connected, the acceleration command is controlled by the
+    0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
+    by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
+    Module (ECM) while the cruise control system is disengaged.
+
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
     units above the actual EPS generated motor torque to ensure limited differences between
     commanded and actual torques.
 
   - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
-    respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
-    board and in software. Additionally, the cruise control system disengages on the rising edge of
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
     the brake pedal pressed signal.
 
   - The cruise control system state is contained in the 0x1D2 message. No control messages are
-    allowed if the cruise control system is not active. This is enforced by the software and the
-    board. The green led on the board signifies if the board is allowing control messages.
+    allowed if the cruise control system is not active. This is enforced by openpilot and the
+    panda firmware. The white led on the panda signifies if the panda is allowing control messages.
+
+GM/Chevrolet
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
+    openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
+    while 3072 correspond to approximately 0.18g of acceleration from stop.
+
+  - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
+    and openpilot to 350. This is approximately 0.3g of braking.
+
+  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
+    regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
+
+  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+Hyundai/Kia (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+Chrysler/Jeep/Fiat (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
+    commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+
+**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.

cereal/Makefile

@@ -6,13 +6,16 @@ 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/include/c++.capnp.h gen/c/include/java.capnp.h
 
 	ifeq ($(UNAME_M),x86_64)
-		GENS += gen/java/Car.java gen/java/Log.java
+		ifneq (, $(shell which capnpc-java))
+			GENS += gen/java/Car.java gen/java/Log.java
+    else
+      $(warning capnpc-java not found, skipping java build)
+		endif
 	endif
 
 endif