diff --git a/README.md b/README.md
index d85d1e5676..31f88158a1 100644
--- a/README.md
+++ b/README.md
@@ -1,18 +1,4 @@
-
-
-Table of Contents
-=======================
-
-* [What is openpilot?](#what-is-openpilot)
-* [Running in a car](#running-on-a-dedicated-device-in-a-car)
-* [Running on PC](#running-on-pc)
-* [Community and Contributing](#community-and-contributing)
-* [User Data and comma Account](#user-data-and-comma-account)
-* [Safety and Testing](#safety-and-testing)
-* [Directory Structure](#directory-structure)
-* [Licensing](#licensing)
-
----
+[](https://comma.ai/shop/comma-3x)
What is openpilot?
------
@@ -21,35 +7,22 @@ What is openpilot?
-  |
-  |
-  |
-  |
-
-
-  |
-  |
-  |
-  |
+  |
+  |
+  |
-
Running on a dedicated device in a car
------
-To use openpilot in a car, you need four things
-1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x)
-
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software.
- To install the release version of openpilot, use the URL `openpilot.comma.ai`.
- To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork.
-
-3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more.
- If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot.
-
+To use openpilot in a car, you need four things:
+1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md).
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
- We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
+
+We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
Running on PC
------
@@ -58,22 +31,32 @@ All openpilot services can run as usual on a PC without requiring special hardwa
With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
-You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
+You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine.
A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
Community and Contributing
------
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
-Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
+* Join the [community Discord](https://discord.comma.ai)
+* Check out [the contributing docs](docs/CONTRIBUTING.md)
+* Code documentation lives at https://docs.comma.ai
+* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
-You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md).
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).
+Safety and Testing
+----
-And [follow us on Twitter](https://twitter.com/comma_ai).
+* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
User Data and comma Account
------
@@ -87,49 +70,6 @@ The driver-facing camera is only logged if you explicitly opt-in in settings. Th
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). 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. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-Safety and Testing
-----
-
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
-* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
-
-Directory Structure
-------
- .
- ├── cereal # The messaging spec and libs used for all logs
- ├── common # Library like functionality we've developed here
- ├── docs # Documentation
- ├── opendbc # Files showing how to interpret data from cars
- ├── panda # Code used to communicate on CAN
- ├── third_party # External libraries
- └── system # Generic services
- ├── camerad # Driver to capture images from the camera sensors
- ├── hardware # Hardware abstraction classes
- ├── logcatd # systemd journal as a service
- ├── loggerd # Logger and uploader of car data
- ├── proclogd # Logs information from /proc
- ├── sensord # IMU interface code
- └── ubloxd # u-blox GNSS module interface code
- └── selfdrive # Code needed to drive the car
- ├── assets # Fonts, images, and sounds for UI
- ├── athena # Allows communication with the app
- ├── boardd # Daemon to talk to the board
- ├── car # Car specific code to read states and control actuators
- ├── controls # Planning and controls
- ├── debug # Tools to help you debug and do car ports
- ├── locationd # Precise localization and vehicle parameter estimation
- ├── manager # Daemon that starts/stops all other daemons as needed
- ├── modeld # Driving and monitoring model runners
- ├── monitoring # Daemon to determine driver attention
- ├── navd # Turn-by-turn navigation
- ├── test # Unit tests, system tests, and a car simulator
- └── ui # The UI
-
Licensing
------
@@ -145,5 +85,5 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
-[](https://github.com/commaai/openpilot/actions)
+
[](https://codecov.io/gh/commaai/openpilot)
diff --git a/RELEASES.md b/RELEASES.md
index 4e72c3c986..226a272824 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,4 +1,4 @@
-Version 0.9.6 (2023-12-14)
+Version 0.9.6 (20XX-XX-XX)
========================
* New driving model
* Vision model trained on more data
diff --git a/cereal b/cereal
index d11688a90a..8ae5c51a65 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit d11688a90a1cebacb3fe00dcfbba5f27551b2d89
+Subproject commit 8ae5c51a6515c171f3a82c9511a18d79a9e55c07
diff --git a/common/SConscript b/common/SConscript
index 97322b248d..b8c23b7019 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -24,7 +24,7 @@ Export('_common', '_gpucommon')
if GetOption('extras'):
env.Program('tests/test_common',
- ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
+ ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
LIBS=[_common, 'json11', 'zmq', 'pthread'])
# Cython bindings
diff --git a/common/params.cc b/common/params.cc
index d1d3513469..620cd42641 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -4,9 +4,11 @@
#include
#include
+#include
#include
#include
+#include "common/queue.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "system/hardware/hw.h"
@@ -214,8 +216,15 @@ std::unordered_map keys = {
Params::Params(const std::string &path) {
- prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
- params_path = ensure_params_path(prefix, path);
+ params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
+ params_path = ensure_params_path(params_prefix, path);
+}
+
+Params::~Params() {
+ if (future.valid()) {
+ future.wait();
+ }
+ assert(queue.empty());
}
std::vector Params::allKeys() const {
@@ -328,3 +337,20 @@ void Params::clearAll(ParamKeyType key_type) {
fsync_dir(getParamPath());
}
+
+void Params::putNonBlocking(const std::string &key, const std::string &val) {
+ queue.push(std::make_pair(key, val));
+ // start thread on demand
+ if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
+ future = std::async(std::launch::async, &Params::asyncWriteThread, this);
+ }
+}
+
+void Params::asyncWriteThread() {
+ // TODO: write the latest one if a key has multiple values in the queue.
+ std::pair p;
+ while (queue.try_pop(p, 0)) {
+ // Params::put is Thread-Safe
+ put(p.first, p.second);
+ }
+}
diff --git a/common/params.h b/common/params.h
index aa586a1581..d726a6185f 100644
--- a/common/params.h
+++ b/common/params.h
@@ -1,9 +1,14 @@
#pragma once
+#include
#include