Merge branch 'master' of https://github.com/commaai/openpilot into qt-scrolling

.dockerignore

@@ -1,4 +1,4 @@
-.git
+**/.git
 .DS_Store
 *.dylib
 *.DSYM

common/params_pyx.pyx

@@ -55,6 +55,7 @@ keys = {
   b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   b"Passive": [TxType.PERSISTENT],
   b"RecordFront": [TxType.PERSISTENT],
+  b"RecordFrontLock": [TxType.PERSISTENT],  # for the internal fleet
   b"ReleaseNotes": [TxType.PERSISTENT],
   b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   b"SubscriberInfo": [TxType.PERSISTENT],

launch.sh

@@ -1,4 +0,0 @@
-#!/usr/bin/bash
-
-export PASSIVE="0"
-exec ./launch_chffrplus.sh

release/files_common

@@ -1,6 +1,5 @@
 .gitignore
 LICENSE
-launch.sh
 launch_env.sh
 launch_chffrplus.sh
 launch_openpilot.sh

selfdrive/car/chrysler/carcontroller.py

@@ -32,7 +32,7 @@ class CarController():
     moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed  # for status message
     if CS.out.vEgo > (CS.CP.minSteerSpeed - 0.5):  # for command high bit
       self.gone_fast_yet = True
-    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
+    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
       if CS.out.vEgo < (CS.CP.minSteerSpeed - 3.0):
         self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
     lkas_active = moving_fast and enabled

selfdrive/car/honda/values.py

@@ -943,6 +943,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TJB-A040\x00\x00',
+      b'36802-TJB-A050\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TJB-A040\x00\x00',

selfdrive/car/toyota/values.py

@@ -859,6 +859,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152653330\x00\x00\x00\x00\x00\x00',
@@ -870,6 +871,7 @@ FW_VERSIONS = {
       b'881515306200\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
+      b'8965B53270\x00\x00\x00\x00\x00\x00',
       b'8965B53271\x00\x00\x00\x00\x00\x00',
       b'8965B53280\x00\x00\x00\x00\x00\x00',
       b'8965B53281\x00\x00\x00\x00\x00\x00',

selfdrive/locationd/locationd.py

@@ -62,7 +62,7 @@ class Localizer():
     self.calib = np.zeros(3)
     self.device_from_calib = np.eye(3)
     self.calib_from_device = np.eye(3)
-    self.calibrated = 0
+    self.calibrated = False
     self.H = get_H()
 
     self.posenet_invalid_count = 0
@@ -77,7 +77,7 @@ class Localizer():
     self.device_fell = False
 
   @staticmethod
-  def msg_from_state(converter, calib_from_device, H, predicted_state, predicted_cov):
+  def msg_from_state(converter, calib_from_device, H, predicted_state, predicted_cov, calibrated):
     predicted_std = np.sqrt(np.diagonal(predicted_cov))
 
     fix_ecef = predicted_state[States.ECEF_POS]
@@ -130,12 +130,12 @@ class Localizer():
       (fix.velocityDevice, vel_device, vel_device_std, True),
       (fix.accelerationDevice, predicted_state[States.ACCELERATION], predicted_std[States.ACCELERATION_ERR], True),
       (fix.orientationECEF, orientation_ecef, orientation_ecef_std, True),
-      (fix.calibratedOrientationECEF, calibrated_orientation_ecef, np.nan*np.zeros(3), True),
+      (fix.calibratedOrientationECEF, calibrated_orientation_ecef, np.nan*np.zeros(3), calibrated),
       (fix.orientationNED, orientation_ned, np.nan*np.zeros(3), True),
       (fix.angularVelocityDevice, predicted_state[States.ANGULAR_VELOCITY], predicted_std[States.ANGULAR_VELOCITY_ERR], True),
-      (fix.velocityCalibrated, vel_calib, vel_calib_std, True),
-      (fix.angularVelocityCalibrated, ang_vel_calib, ang_vel_calib_std, True),
-      (fix.accelerationCalibrated, acc_calib, acc_calib_std, True),
+      (fix.velocityCalibrated, vel_calib, vel_calib_std, calibrated),
+      (fix.angularVelocityCalibrated, ang_vel_calib, ang_vel_calib_std, calibrated),
+      (fix.accelerationCalibrated, acc_calib, acc_calib_std, calibrated),
     ]
 
     for field, value, std, valid in measurements:
@@ -147,7 +147,7 @@ class Localizer():
     return fix
 
   def liveLocationMsg(self):
-    fix = self.msg_from_state(self.converter, self.calib_from_device, self.H, self.kf.x, self.kf.P)
+    fix = self.msg_from_state(self.converter, self.calib_from_device, self.H, self.kf.x, self.kf.P, self.calibrated)
     # experimentally found these values, no false positives in 20k minutes of driving
     old_mean, new_mean = np.mean(self.posenet_stds[:POSENET_STD_HIST//2]), np.mean(self.posenet_stds[POSENET_STD_HIST//2:])
     std_spike = new_mean/old_mean > 4 and new_mean > 7

selfdrive/locationd/models/live_kf.py

@@ -201,7 +201,7 @@ class LiveKalman():
                       ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
                       ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]),
                       ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]),
-                      ObservationKind.NO_ROT: np.diag([0.00025**2, 0.00025**2, 0.00025**2]),
+                      ObservationKind.NO_ROT: np.diag([0.005**2, 0.005**2, 0.005**2]),
                       ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2]),
                       ObservationKind.ECEF_VEL: np.diag([.5**2, .5**2, .5**2]),
                       ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.diag([.2**2, .2**2, .2**2, .2**2])}

selfdrive/locationd/paramsd.py

@@ -5,14 +5,12 @@ import json
 import numpy as np
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import car
 from common.params import Params, put_nonblocking
 from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from selfdrive.locationd.models.constants import GENERATED_DIR
 from selfdrive.swaglog import cloudlog
 
-KalmanStatus = log.LiveLocationKalman.Status
-
 
 class ParamsLearner:
   def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset):
@@ -38,9 +36,10 @@ class ParamsLearner:
 
       yaw_rate = msg.angularVelocityCalibrated.value[2]
       yaw_rate_std = msg.angularVelocityCalibrated.std[2]
+      yaw_rate_valid = msg.angularVelocityCalibrated.valid
 
       if self.active:
-        if msg.inputsOK and msg.posenetOK and msg.status == KalmanStatus.valid:
+        if msg.inputsOK and msg.posenetOK and yaw_rate_valid:
           self.kf.predict_and_observe(t,
                                       ObservationKind.ROAD_FRAME_YAW_RATE,
                                       np.array([[[-yaw_rate]]]),
@@ -89,9 +88,10 @@ def main(sm=None, pm=None):
       params = None
 
   try:
-    if params is not None and not all((
-        abs(params.get('angleOffsetAverageDeg')) < 10.0,
-        min_sr <= params['steerRatio'] <= max_sr)):
+    angle_offset_sane = abs(params.get('angleOffsetAverageDeg')) < 10.0
+    steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr
+    params_sane = angle_offset_sane and steer_ratio_sane
+    if params is not None and not params_sane:
       cloudlog.info(f"Invalid starting values found {params}")
       params = None
   except Exception as e:

selfdrive/manager/manager.py

@@ -45,6 +45,9 @@ def manager_init(spinner=None):
     ("IsDriverViewEnabled", "0"),
   ]
 
+  if params.get("RecordFrontLock", encoding='utf-8') == "1":
+    params.put("RecordFront", "1")
+
   # set unset params
   for k, v in default_params:
     if params.get(k) is None:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f7af4a6523a7afa631460f5168646ca32c8fa4b3
+f88eda1b667eac0654f65281a16e7713836cb705

selfdrive/test/profiling/lib.py

@@ -1,4 +1,5 @@
 from collections import defaultdict
+from cereal.services import service_list
 import cereal.messaging as messaging
 import capnp
 
@@ -45,6 +46,7 @@ class SubMaster(messaging.SubMaster):
     self.valid = {s: True for s in services}
     self.logMonoTime = {}
     self.sock = {}
+    self.freq = {}
 
     # TODO: specify multiple triggers for service like plannerd that poll on more than one service
     cur_msgs = []
@@ -55,8 +57,10 @@ class SubMaster(messaging.SubMaster):
       if msg.which() == trigger:
         self.msgs.append(cur_msgs)
         cur_msgs = []
+    self.msgs = list(reversed(self.msgs))
 
     for s in services:
+      self.freq[s] = service_list[s].frequency
       try:
         data = messaging.new_message(s)
       except capnp.lib.capnp.KjException:

selfdrive/test/profiling/profiler.py

@@ -15,6 +15,7 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 CARS = {
   'toyota': ("77611a1fac303767|2020-02-29--13-29-33/3", "TOYOTA COROLLA TSS2 2019"),
   'honda': ("99c94dc769b5d96e|2019-08-03--14-19-59/2", "HONDA CIVIC 2016 TOURING"),
+  "vw": ("e2a273d7e6eecec2|2021-03-03--16-05-26/4", "AUDI A3"),
 }
 
 
@@ -40,7 +41,7 @@ def get_inputs(msgs, process):
   return sm, pm, can_sock
 
 
-def profile(proc, func, car='toyota'):
+def profile(proc, func, car='vw'):
   segment, fingerprint = CARS[car]
   segment = segment.replace('|', '/')
   rlog_url = f"{BASE_URL}{segment}/rlog.bz2"

selfdrive/ui/SConscript

@@ -59,6 +59,8 @@ else:
     for name, branch in installers:
       d = {'BRANCH': f"'\"{branch}\"'"}
       if "internal" in name:
+        d['INTERNAL'] = "1"
+
         import requests
         r = requests.get("https://github.com/commaci2.keys")
         r.raise_for_status()

selfdrive/ui/qt/offroad/onboarding.cc

@@ -6,7 +6,7 @@
 #include <QGridLayout>
 #include <QVBoxLayout>
 #include <QDesktopWidget>
-
+#include <QPainter>
 #include "common/params.h"
 #include "onboarding.hpp"
 #include "home.hpp"
@@ -14,48 +14,40 @@
 
 #include <QEasingCurve>
 
-
 void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
   int leftOffset = (geometry().width()-1620)/2;
   int mousex = e->x()-leftOffset;
   int mousey = e->y();
 
   // Check for restart
-  if (currentIndex == boundingBox.size()-1) {
-    if (1050 <= mousex && mousex <= 1500 && 773 <= mousey && mousey <= 954){
-      slayout->setCurrentIndex(0);
-      currentIndex = 0;
-      return;
-    }
-  }
-
-  if (boundingBox[currentIndex][0] <= mousex && mousex <= boundingBox[currentIndex][1] && boundingBox[currentIndex][2] <= mousey && mousey <= boundingBox[currentIndex][3]) {
-    slayout->setCurrentIndex(++currentIndex);
+  if (currentIndex == (boundingBox.size() - 1) && 1050 <= mousex && mousex <= 1500 && 773 <= mousey && mousey <= 954) {
+    currentIndex = 0;
+  } else if (boundingBox[currentIndex][0] <= mousex && mousex <= boundingBox[currentIndex][1] && boundingBox[currentIndex][2] <= mousey && mousey <= boundingBox[currentIndex][3]) {
+    ++currentIndex;
   }
   if (currentIndex >= boundingBox.size()) {
     emit completedTraining();
     return;
   }
+
+  image.load("../assets/training/step" + QString::number(currentIndex) + ".jpg");
+  repaint();
 }
 
 TrainingGuide::TrainingGuide(QWidget* parent) {
-  QHBoxLayout* hlayout = new QHBoxLayout;
-
-  slayout = new QStackedLayout(this);
-  for (int i = 0; i < boundingBox.size(); i++) {
-    QWidget* w = new QWidget;
-    w->setStyleSheet(".QWidget {background-image: url(../assets/training/step" + QString::number(i) + ".jpg);}");
-    w->setFixedSize(1620, 1080);
-    slayout->addWidget(w);
-  }
+  image.load("../assets/training/step0.jpg");
+}
 
-  QWidget* sw = new QWidget();
-  sw->setLayout(slayout);
-  hlayout->addWidget(sw, 1, Qt::AlignCenter);
-  setLayout(hlayout);
-  setStyleSheet(R"(
-    background-color: #072339;
-  )");
+void TrainingGuide::paintEvent(QPaintEvent *event) {
+  QPainter painter(this);
+
+  QRect devRect(0, 0, painter.device()->width(), painter.device()->height());
+  QBrush bgBrush("#072339");
+  painter.fillRect(devRect, bgBrush);
+
+  QRect rect(image.rect());
+  rect.moveCenter(devRect.center());
+  painter.drawImage(rect.topLeft(), image);
 }
 
 
@@ -161,7 +153,6 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   bool accepted_terms = params.get("HasAcceptedTerms", false).compare(current_terms_version) == 0;
   bool training_done = params.get("CompletedTrainingVersion", false).compare(current_training_version) == 0;
 
-  // TODO: fix this, training guide is slow
   // Don't initialize widgets unless neccesary.
   if (accepted_terms && training_done) {
     return;

selfdrive/ui/qt/offroad/onboarding.hpp

@@ -3,9 +3,9 @@
 #include <QWidget>
 #include <QScroller>
 #include <QStackedWidget>
-#include <QStackedLayout>
 #include <QTextEdit>
 #include <QMouseEvent>
+#include <QImage>
 
 class TrainingGuide : public QFrame {
   Q_OBJECT
@@ -15,10 +15,11 @@ public:
 
 protected:
   void mouseReleaseEvent(QMouseEvent* e) override;
+  void paintEvent(QPaintEvent *event) override;
 
 private:
   int currentIndex = 0;
-  QStackedLayout* slayout;
+  QImage image;
 
   // Vector of bounding boxes for the a given training guide step. (minx, maxx, miny, maxy)
   QVector<QVector<int>> boundingBox {{250, 930, 750, 900}, {280, 1280, 650, 950}, {330, 1130, 590, 900}, {910, 1580, 500, 1000}, {1180, 1300, 630, 720}, {290, 1050, 590, 960}, 

selfdrive/ui/qt/offroad/settings.cc

@@ -64,7 +64,7 @@ ParamsToggle::ParamsToggle(QString param, QString title, QString description, QS
   layout->addWidget(label);
 
   // toggle switch
-  Toggle *toggle = new Toggle(this);
+  toggle = new Toggle(this);
   toggle->setFixedSize(150, 100);
   layout->addWidget(toggle);
   QObject::connect(toggle, SIGNAL(stateChanged(int)), this, SLOT(checkboxClicked(int)));
@@ -104,12 +104,6 @@ QWidget * toggles_panel() {
                                             "../assets/offroad/icon_warning.png"
                                               ));
   toggles_list->addWidget(horizontal_line());
-  toggles_list->addWidget(new ParamsToggle("RecordFront",
-                                            "Record and Upload Driver Camera",
-                                            "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
-                                            "../assets/offroad/icon_network.png"
-                                            ));
-  toggles_list->addWidget(horizontal_line());
   toggles_list->addWidget(new ParamsToggle("IsRHD",
                                             "Enable Right-Hand Drive",
                                             "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.",
@@ -128,6 +122,16 @@ QWidget * toggles_panel() {
                                             "../assets/offroad/icon_shell.png"
                                             ));
 
+  ParamsToggle *record_toggle = new ParamsToggle("RecordFront",
+                                            "Record and Upload Driver Camera",
+                                            "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
+                                            "../assets/offroad/icon_network.png");
+  toggles_list->addWidget(horizontal_line());
+  toggles_list->addWidget(record_toggle);
+
+  bool record_lock = Params().read_db_bool("RecordFrontLock");
+  record_toggle->toggle->setEnabled(!record_lock);
+
   QWidget *widget = new QWidget;
   widget->setLayout(toggles_list);
   return widget;

selfdrive/ui/qt/offroad/settings.hpp

@@ -7,6 +7,8 @@
 #include <QButtonGroup>
 #include <QStackedLayout>
 
+#include "selfdrive/ui/qt/widgets/toggle.hpp"
+
 // *** settings widgets ***
 
 class ParamsToggle : public QFrame {
@@ -15,6 +17,7 @@ class ParamsToggle : public QFrame {
 public:
   explicit ParamsToggle(QString param, QString title, QString description,
                         QString icon, QWidget *parent = 0);
+  Toggle *toggle;
 
 private:
   QString param;

selfdrive/ui/qt/setup/installer.cc

@@ -37,14 +37,19 @@ int fresh_clone() {
   err = std::system("mv /data/tmppilot /data/openpilot");
   if (err) return 1;
 
-#ifdef SSH_KEYS
+#ifdef INTERNAL
   err = std::system("mkdir -p /data/params/d/");
   if (err) return 1;
 
   std::ofstream param;
-  param.open("/data/params/d/GithubSshKeys");
-  param << SSH_KEYS;
+  param.open("/data/params/d/RecordFrontLock");
+  param << "1";
   param.close();
+
+  std::ofstream keys_param;
+  keys_param.open("/data/params/d/GithubSshKeys");
+  keys_param << SSH_KEYS;
+  keys_param.close();
 #endif
 
   return 0;

selfdrive/ui/qt/widgets/input.cc

@@ -115,6 +115,7 @@ void InputDialog::setMinLength(int length){
 
 ConfirmationDialog::ConfirmationDialog(QString prompt_text, QString confirm_text, QString cancel_text,
                                        QWidget *parent):QDialog(parent) {
+  setWindowFlags(Qt::Popup);
   layout = new QVBoxLayout();
   layout->setMargin(25);
 

selfdrive/ui/qt/widgets/offroad_alerts.cc

@@ -59,6 +59,13 @@ OffroadAlert::OffroadAlert(QWidget* parent) : QFrame(parent) {
     }
   )");
   main_layout->setMargin(50);
+
+  QFile inFile("../controls/lib/alerts_offroad.json");
+  bool ret = inFile.open(QIODevice::ReadOnly | QIODevice::Text);
+  assert(ret);
+  QJsonDocument doc = QJsonDocument::fromJson(inFile.readAll());
+  assert(!doc.isNull());
+  alert_keys = doc.object().keys();
 }
 
 void OffroadAlert::refresh() {
@@ -109,20 +116,7 @@ void OffroadAlert::refresh() {
 
 void OffroadAlert::parse_alerts() {
   alerts.clear();
-
-  // TODO: only read this once
-  QFile inFile("../controls/lib/alerts_offroad.json");
-  inFile.open(QIODevice::ReadOnly | QIODevice::Text);
-  QByteArray data = inFile.readAll();
-  inFile.close();
-
-  QJsonDocument doc = QJsonDocument::fromJson(data);
-  if (doc.isNull()) {
-    qDebug() << "Parse failed";
-  }
-
-  QJsonObject json = doc.object();
-  for (const QString &key : json.keys()) {
+  for (const QString &key : alert_keys) {
     std::vector<char> bytes = Params().read_db_bytes(key.toStdString().c_str());
 
     if (bytes.size()) {

selfdrive/ui/qt/widgets/offroad_alerts.hpp

@@ -3,6 +3,7 @@
 #include <QFrame>
 #include <QStackedWidget>
 #include <QPushButton>
+#include <QStringList>
 
 struct Alert {
   QString text;
@@ -15,6 +16,7 @@ class OffroadAlert : public QFrame {
 public:
   explicit OffroadAlert(QWidget *parent = 0);
   QVector<Alert> alerts;
+  QStringList alert_keys;
   bool updateAvailable;
 
 private: