openpilot v0.8.1 release

Author: Vehicle Researcher

.gitignore

@@ -53,6 +53,7 @@ one
 openpilot
 notebooks
 xx
+hyperthneed
 panda_jungle
 apks
 openpilot-apks
@@ -66,3 +67,4 @@ pandaextra
 flycheck_*
 
 cppcheck_report.txt
+comma.sh

CONTRIBUTING.md

@@ -2,7 +2,7 @@
 
 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 [Discord](https://discord.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 [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
 
 ## Getting Started
 
@@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https
 
 ## Testing
 
-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
-
 ### Automated Testing
 
-All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.
+All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
 
 ### Code Style and Linting
 
-Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
 
 ## Car Ports (openpilot)
 
 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 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.
+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).
 
 ## Pull Requests
 
@@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
 ```
 Or alternatively, when on the master branch:
 ```
-git submodule init
-git submodule update
+git submodule update --init
 ```
 The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
 Modules that are in seperate repositories include:
-* apks
 * cereal
 * laika
 * opendbc

Jenkinsfile

@@ -124,15 +124,15 @@ pipeline {
                 stage('Replay Tests') {
                   steps {
                     phone_steps("eon2", [
-                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
                     ])
                   }
                 }
 
                 stage('HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
-                      ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+                      ["build", "SCONS_CACHE=1 scons -j4"],
                       ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
                       ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],

README.md

@@ -64,27 +64,27 @@ Supported Cars
 
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Acura     | RDX 2020                      | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2019-20     | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
 | Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | CR-V 2017-20                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Insight 2019-20               | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2020                   | All               | Stock            | 0mph               | 0mph              |
+| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph              |
+| Hyundai   | Sonata 2020-21                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | ES 2019-20                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
@@ -93,11 +93,12 @@ Supported Cars
 | Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Avalon 2016-18                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
@@ -106,9 +107,9 @@ Supported Cars
 | Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hybrid 2020-21        | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
@@ -143,7 +144,8 @@ Community Maintained Cars and Features
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq Electric 2019-20        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
@@ -162,7 +164,7 @@ Community Maintained Cars and Features
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019                 | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019-20              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 

RELEASES.md

@@ -1,3 +1,13 @@
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
 Version 0.8.0 (2020-11-30)
 ========================
  * New driving model: fully 3D and improved cut-in detection

SConstruct

@@ -1,12 +1,10 @@
-import Cython
-import distutils
 import os
 import shutil
 import subprocess
 import sys
+import sysconfig
 import platform
 import numpy as np
-from sysconfig import get_paths
 
 TICI = os.path.isfile('/TICI')
 Decider('MD5-timestamp')
@@ -19,10 +17,6 @@ AddOption('--asan',
           action='store_true',
           help='turn on ASAN')
 
-# Rebuild cython extensions if python, distutils, or cython change
-cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
-Export('cython_dependencies')
-
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
@@ -130,10 +124,6 @@ else:
 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path
 
-#Get the path for Python.h for cython linking
-python_path = get_paths()['include']
-numpy_path = np.get_include()
-
 env = Environment(
   ENV=lenv,
   CCFLAGS=[
@@ -188,30 +178,27 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
     "#cereal",
+    "#phonelibs",
+    "#opendbc/can",
     "#selfdrive/boardd",
     "#selfdrive/common",
-    "#phonelibs",
   ],
   CYTHONCFILESUFFIX=".cpp",
-  tools=["default", "cython"]
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "cython", "compilation_db"],
 )
 
+if GetOption('test'):
+  env.CompilationDatabase('compile_commands.json')
+
 if os.environ.get('SCONS_CACHE'):
   cache_dir = '/tmp/scons_cache'
-
-  if os.getenv('CI'):
-    branch = os.getenv('GIT_BRANCH')
-
-    if QCOM_REPLAY:
-      cache_dir = '/tmp/scons_cache_qcom_replay'
-    elif branch is not None and branch != 'master':
-      cache_dir_branch = '/tmp/scons_cache_' + branch
-      if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
-        shutil.copytree(cache_dir, cache_dir_branch)
-      cache_dir = cache_dir_branch
-  elif TICI:
+  if TICI:
     cache_dir = '/data/scons_cache'
 
+  if QCOM_REPLAY:
+    cache_dir = '/tmp/scons_cache_qcom_replay'
+
   CacheDir(cache_dir)
 
 node_interval = 5
@@ -235,22 +222,20 @@ def abspath(x):
     # rpath works elsewhere
     return x[0].path.rsplit("/", 1)[1][:-3]
 
-#Cython build enviroment
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
-envCython["CPPPATH"] += [python_path, numpy_path]
+envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
 
-python_libs = []
+envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"]=["-bundle", "-undefined", "dynamic_lookup"]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
 elif arch == "aarch64":
-  envCython["LINKFLAGS"]=["-shared"]
-
-  python_libs.append(os.path.basename(python_path))
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
 else:
-  envCython["LINKFLAGS"]=["-pthread", "-shared"]
-
-envCython["LIBS"] = python_libs
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
 Export('envCython')
 
@@ -311,3 +296,4 @@ if arch != "Darwin":
 
 if arch == "x86_64":
   SConscript(['tools/lib/index_log/SConscript'])
+

cereal/.gitignore

@@ -1,6 +1,7 @@
 gen
 node_modules
 package-lock.json
+*.tmp
 *.pyc
 __pycache__
 .*.swp

cereal/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'arch', 'zmq', 'cython_dependencies')
+Import('env', 'envCython', 'arch', 'zmq')
 
 import shutil
 
@@ -55,11 +55,7 @@ Depends('messaging/bridge.cc', services_h)
 # different target?
 #env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
 
-
-env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
-            cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
-            "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
-
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
 
 if GetOption('test'):
   env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])

cereal/car.capnp

@@ -101,6 +101,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     fanMalfunction @91;
     cameraMalfunction @92;
 
+    startupOneplus @82;
+
     gasUnavailableDEPRECATED @3;
     dataNeededDEPRECATED @16;
     modelCommIssueDEPRECATED @27;
@@ -112,8 +114,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     invalidGiraffeHondaDEPRECATED @49;
     invalidGiraffeToyotaDEPRECATED @60;
     whitePandaUnsupportedDEPRECATED @81;
-    startupGreyPandaDEPRECATED @82;
-    canErrorPersistentDEPRECATED @83;
+    commIssueWarningDEPRECATED @83;
     focusRecoverActiveDEPRECATED @86;
     neosUpdateRequiredDEPRECATED @88;
     modelLagWarningDEPRECATED @93;
@@ -398,6 +399,9 @@ struct CarParams {
   steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
   steerControlType @34 :SteerControlType;
   radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+  stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
+  startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?

cereal/log.capnp

@@ -49,6 +49,8 @@ struct InitData {
     neo @1;
     chffrAndroid @2;
     chffrIos @3;
+    tici @4;
+    pc @5;
   }
 
   struct AndroidBuildInfo {
@@ -629,6 +631,7 @@ struct ModelData {
   frameDropPerc @13 :Float32;
   timestampEof @9 :UInt64;
   modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
   rawPred @15 :Data;
 
   path @1 :PathData;
@@ -697,6 +700,7 @@ struct ModelDataV2 {
   frameDropPerc @2 :Float32;
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
+  gpuExecutionTime @17 :Float32;
   rawPred @16 :Data;
 
   position @4 :XYZTData;
@@ -1952,6 +1956,7 @@ struct OrbKeyFrame {
 struct DriverState {
   frameId @0 :UInt32;
   modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
   rawPred @15 :Data;
 
   descriptorDEPRECATED @1 :List(Float32);