openpilot v0.4.6 release

old-commit-hash: c6df34f55b

README.md

@@ -148,7 +148,7 @@ Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/posi
 Licensing
 ------
 
-openpilot is released under the MIT license.
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
 Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 

RELEASES.md

@@ -1,3 +1,11 @@
+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

cereal/car.capnp

@@ -57,6 +57,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     plannerError @32;
     ipasOverride @33;
     debugAlert @34;
+    steerTempUnavailableMute @35;
   }
 }
 
@@ -330,4 +331,10 @@ struct CarParams {
   stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
   startAccel @35 :Float32; # Required acceleraton to overcome creep braking
   steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
+  steerControlType @46 :SteerControlType;
+
+  enum SteerControlType {
+    torque @0;
+    angle @1;
+  }
 }

common/fingerprints.py

@@ -17,6 +17,10 @@ class TOYOTA:
 
 class GM:
   VOLT = "CHEVROLET VOLT PREMIER 2017"
+  CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
+
+class FORD:
+  FUSION = "FORD FUSION 2018"
 
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
@@ -82,6 +86,12 @@ _FINGERPRINTS = {
   GM.VOLT: [{
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   }],
+  GM.CADILLAC_CT6: [{
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
+  }],
+  FORD.FUSION: [{
+    71: 8, 74: 8, 75: 8, 76: 8, 90: 8, 92: 8, 93: 8, 118: 8, 119: 8, 120: 8, 125: 8, 129: 8, 130: 8, 131: 8, 132: 8, 133: 8, 145: 8, 146: 8, 357: 8, 359: 8, 360: 8, 361: 8, 376: 8, 390: 8, 391: 8, 392: 8, 394: 8, 512: 8, 514: 8, 516: 8, 531: 8, 532: 8, 534: 8, 535: 8, 560: 8, 578: 8, 604: 8, 613: 8, 673: 8, 827: 8, 848: 8, 934: 8, 935: 8, 936: 8, 947: 8, 963: 8, 970: 8, 972: 8, 973: 8, 984: 8, 992: 8, 994: 8, 997: 8, 998: 8, 1003: 8, 1034: 8, 1045: 8, 1046: 8, 1053: 8, 1054: 8, 1058: 8, 1059: 8, 1068: 8, 1072: 8, 1073: 8, 1082: 8, 1107: 8, 1108: 8, 1109: 8, 1110: 8, 1200: 8, 1427: 8, 1430: 8, 1438: 8, 1459: 8
+  }],
 }
 
 # support additional internal only fingerprints

common/logging_extra.py

@@ -18,7 +18,7 @@ def json_robust_dumps(obj):
 
 class NiceOrderedDict(OrderedDict):
   def __str__(self):
-    return '{'+', '.join("%r: %r" % p for p in self.iteritems())+'}'
+    return json_robust_dumps(self)
 
 class SwagFormatter(logging.Formatter):
   def __init__(self, swaglogger):
@@ -62,6 +62,10 @@ class SwagFormatter(logging.Formatter):
   def format(self, record):
     return json_robust_dumps(self.format_dict(record))
 
+class SwagErrorFilter(logging.Filter):
+  def filter(self, record):
+    return record.levelno < logging.ERROR
+
 _tmpfunc = lambda: 0
 _srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
 
@@ -128,15 +132,40 @@ class SwagLogger(logging.Logger):
     if args:
       evt['args'] = args
     evt.update(kwargs)
+    if 'error' in kwargs:
+      self.error(evt)
+    else:
       self.info(evt)
 
 if __name__ == "__main__":
   log = SwagLogger()
 
+  stdout_handler = logging.StreamHandler(sys.stdout)
+  stdout_handler.setLevel(logging.INFO)
+  stdout_handler.addFilter(SwagErrorFilter())
+  log.addHandler(stdout_handler)
+
+  stderr_handler = logging.StreamHandler(sys.stderr)
+  stderr_handler.setLevel(logging.ERROR)
+  log.addHandler(stderr_handler)
+
   log.info("asdasd %s", "a")
   log.info({'wut': 1})
+  log.warning("warning")
+  log.error("error")
+  log.critical("critical")
+  log.event("test", x="y")
 
   with log.ctx():
+    stdout_handler.setFormatter(SwagFormatter(log))
+    stderr_handler.setFormatter(SwagFormatter(log))
     log.bind(user="some user")
     log.info("in req")
-    log.event("do_req")
+    print("")
+    log.warning("warning")
+    print("")
+    log.error("error")
+    print("")
+    log.critical("critical")
+    print("")
+    log.event("do_req", a=1, b="c")

installer/updater/updater

@@ -0,0 +1,3 @@
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+size 2500744

launch_chffrplus.sh

@@ -22,18 +22,6 @@ function launch {
   echo 0-3 > /dev/cpuset/foreground/cpus
   echo 0-3 > /dev/cpuset/android/cpus
 
-  # check if NEOS update is required
-  while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do
-    # wait for network
-    (cd selfdrive/ui/spinner && exec ./spinner 'waiting for network...') & spin_pid=$!
-    until ping -W 1 -c 1 8.8.8.8; do sleep 1; done
-    kill $spin_pid
-
-    # update NEOS
-    curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater
-    sleep 10
-  done
-
   export PYTHONPATH="$PWD"
 
   # start manager

phonelibs/capnp-cpp/aarch64/bin/capnp

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phonelibs/capnp-cpp/aarch64/bin/capnpc

@@ -0,0 +1 @@
+capnp

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phonelibs/capnp-cpp/include/kj/compat/gtest.h

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phonelibs/capnp-cpp/include/kj/main.h

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phonelibs/capnp-cpp/include/kj/memory.h

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phonelibs/capnp-cpp/include/kj/one-of.h

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phonelibs/capnp-cpp/include/kj/parse/char.h

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phonelibs/capnp-cpp/include/kj/refcount.h

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phonelibs/capnp-cpp/include/kj/std/iostream.h

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phonelibs/capnp-cpp/include/kj/string-tree.h

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phonelibs/capnp-cpp/include/kj/string.h

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phonelibs/capnp-cpp/include/kj/test.h

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phonelibs/capnp-cpp/include/kj/thread.h

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phonelibs/capnp-cpp/include/kj/threadlocal.h

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phonelibs/capnp-cpp/include/kj/time.h

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phonelibs/capnp-cpp/include/kj/tuple.h

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phonelibs/capnp-cpp/include/kj/units.h

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phonelibs/capnp-cpp/include/kj/vector.h

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phonelibs/capnp-cpp/include/kj/windows-sanity.h

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requirements_openpilot.txt

@@ -2,7 +2,7 @@ Cython==0.24.1
 bitstring==3.1.5
 fastcluster==1.1.21
 libusb1==1.5.0
-pycapnp==0.5.9
+pycapnp==0.6.3
 pyzmq==15.4.0
 raven==5.23.0
 requests==2.10.0
@@ -16,3 +16,4 @@ filterpy==1.0.0
 smbus2==0.2.0
 pyflakes==1.5.0
 -e git+https://github.com/commaai/le_python.git#egg=Logentries
+Flask==1.0.1

selfdrive/assets/img_spinner_comma.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78d140abe572b00765a7ece46bd990cff1287c2e8705a5f551b74461ab307b6b
+size 15713

selfdrive/assets/img_spinner_track.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e9bad844598b0aa13c75fad7685f89f7ab190932963a8c70014553b9da37ae
+size 41523

selfdrive/boardd/boardd.cc

@@ -37,6 +37,7 @@
 #define SAFETY_ELM327 0xE327
 #define SAFETY_GM 3
 #define SAFETY_HONDA_BOSCH 4
+#define SAFETY_FORD 5
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
 
@@ -105,6 +106,9 @@ void *safety_setter_thread(void *s) {
   case (int)cereal::CarParams::SafetyModels::HONDA_BOSCH:
     safety_setting = SAFETY_HONDA_BOSCH;
     break;
+  case (int)cereal::CarParams::SafetyModels::FORD:
+    safety_setting = SAFETY_FORD;
+    break;
   default:
     LOGE("unknown safety model: %d", safety_model);
   }

selfdrive/can/Makefile

@@ -28,6 +28,7 @@ else ifeq ($(UNAME_M),x86_64)
 else ifeq ($(UNAME_M),aarch64)
 	ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
 	ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib -l:libzmq.a
+	CXXFLAGS += -lgnustl_shared
 endif
 
 OPENDBC_PATH := $(shell python -c 'import opendbc; print opendbc.DBC_PATH')

selfdrive/car/__init__.py

@@ -5,7 +5,7 @@ from common.fingerprints import eliminate_incompatible_cars, all_known_cars
 
 from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
-from common.fingerprints import HONDA, TOYOTA, GM
+from common.fingerprints import HONDA, TOYOTA, GM, FORD
 
 def load_interfaces(x):
   ret = {}
@@ -22,7 +22,8 @@ def load_interfaces(x):
 interfaces = load_interfaces({
   'honda': [HONDA.CIVIC, HONDA.ACURA_ILX, HONDA.CRV, HONDA.ODYSSEY, HONDA.ACURA_RDX, HONDA.PILOT, HONDA.RIDGELINE],
   'toyota': [TOYOTA.PRIUS, TOYOTA.RAV4, TOYOTA.RAV4H, TOYOTA.COROLLA, TOYOTA.LEXUS_RXH],
-  'gm': [GM.VOLT],
+  'gm': [GM.VOLT, GM.CADILLAC_CT6],
+  'ford': [FORD.FUSION],
   'simulator2': ['simulator2'],
   'mock': ['mock']})
 

selfdrive/car/honda/interface.py

@@ -257,6 +257,7 @@ class CarInterface(object):
       raise ValueError("unsupported car %s" % candidate)
 
     ret.steerKf = 0. # TODO: investigate FF steer control for Honda
+    ret.steerControlType = car.CarParams.SteerControlType.torque
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not

selfdrive/car/toyota/carcontroller.py

@@ -67,6 +67,7 @@ def process_hud_alert(hud_alert, audible_alert):
 
   return steer, fcw, sound1, sound2
 
+
 def ipas_state_transition(steer_angle_enabled, enabled, ipas_active, ipas_reset_counter):
 
   if enabled and not steer_angle_enabled:

selfdrive/car/toyota/interface.py

@@ -136,6 +136,7 @@ class CarInterface(object):
 
     # no rear steering, at least on the listed cars above
     ret.steerRatioRear = 0.
+    ret.steerControlType = car.CarParams.SteerControlType.torque
 
     # steer, gas, brake limitations VS speed
     ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS]  # breakpoints at 1 and 40 kph

selfdrive/common/touch.c

@@ -89,9 +89,9 @@ int touch_poll(TouchState *s, int* out_x, int* out_y) {
     }
   }
   if (up) {
-    // adjust for landscape
-    *out_x = 1920 - s->last_y;
-    *out_y = s->last_x;
+    // adjust for flippening
+    *out_x = s->last_y;
+    *out_y = 1080 - s->last_x;
   }
   return up;
 }

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.4.5.1-release"
+#define COMMA_VERSION "0.4.6-release"

selfdrive/controls/lib/alertmanager.py

@@ -88,6 +88,12 @@ class AlertManager(object):
         AlertStatus.userPrompt, AlertSize.mid,
         Priority.LOW, "steerRequired", "chimeDouble", .4, 2., 3.),
 
+    "steerTempUnavailableMute": Alert(
+        "TAKE CONTROL",
+        "Steering Temporarily Unavailable",
+        AlertStatus.userPrompt, AlertSize.mid,
+        Priority.LOW, None, None, .2, .2, .2),
+
     "preDriverDistracted": Alert(
         "TAKE CONTROL",
         "User Appears Distracted",
@@ -124,6 +130,12 @@ class AlertManager(object):
         AlertStatus.userPrompt, AlertSize.mid,
         Priority.LOW, None, None, 0., 0., .2),
 
+    "debugAlert": Alert( 
+        "DEBUG ALERT", 
+        "", 
+        AlertStatus.userPrompt, AlertSize.mid, 
+        Priority.LOW, None, None, .1, .1, .1), 
+
     # Non-entry only alerts
     "wrongCarModeNoEntry": Alert(
         "openpilot Unavailable",