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Vehicle Researcher
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openpilot v0.8.2 release
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‎.gitignore‎

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,13 @@
11
venv/
2+
.clang-format
23
.DS_Store
34
.tags
45
.ipynb_checkpoints
56
.idea
67
.overlay_init
78
.overlay_consistent
89
.sconsign.dblite
9-
.vscode
10+
.vscode*
1011
model2.png
1112
a.out
1213

@@ -31,6 +32,7 @@ a.out
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*.vcd
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config.json
3334
clcache
35+
compile_commands.json
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persist
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board/obj/
@@ -42,6 +44,7 @@ selfdrive/ui/_ui
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selfdrive/test/longitudinal_maneuvers/out
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selfdrive/visiond/visiond
4446
selfdrive/loggerd/loggerd
47+
selfdrive/loggerd/bootlog
4548
selfdrive/sensord/_gpsd
4649
selfdrive/sensord/_sensord
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selfdrive/camerad/camerad
@@ -68,3 +71,6 @@ flycheck_*
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cppcheck_report.txt
7073
comma.sh
74+
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selfdrive/modeld/thneed/compile
76+
models/*.thneed

‎Jenkinsfile‎

Lines changed: 52 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -1,25 +1,39 @@
11
def phone(String ip, String step_label, String cmd) {
2-
def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
3-
42
withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
5-
sh label: step_label,
6-
script: """
7-
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
8-
echo \$\$ > /dev/cpuset/app/tasks || true
9-
echo \$PPID > /dev/cpuset/app/tasks || true
10-
mkdir -p /dev/shm
11-
chmod 777 /dev/shm
3+
def ssh_cmd = """
4+
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
5+
6+
set -e
7+
8+
export CI=1
9+
export TEST_DIR=${env.TEST_DIR}
10+
export GIT_BRANCH=${env.GIT_BRANCH}
11+
export GIT_COMMIT=${env.GIT_COMMIT}
12+
13+
source ~/.bash_profile
14+
15+
ln -snf ${env.TEST_DIR} /data/pythonpath
16+
17+
if [ -f /EON ]; then
18+
echo \$\$ > /dev/cpuset/app/tasks || true
19+
echo \$PPID > /dev/cpuset/app/tasks || true
20+
mkdir -p /dev/shm
21+
chmod 777 /dev/shm
22+
fi
23+
1224
cd ${env.TEST_DIR} || true
1325
${cmd}
1426
exit 0
27+
1528
EOF"""
29+
30+
sh script: ssh_cmd, label: step_label
1631
}
1732
}
1833

1934
def phone_steps(String device_type, steps) {
2035
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
2136
timeout(time: 60, unit: 'MINUTES') {
22-
phone(device_ip, "kill old processes", "pkill -f comma || true")
2337
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
2438
steps.each { item ->
2539
phone(device_ip, item[0], item[1])
@@ -40,7 +54,7 @@ pipeline {
4054

4155
stages {
4256

43-
stage('Release Build') {
57+
stage('Build release2') {
4458
agent {
4559
docker {
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image 'python:3.7.3'
@@ -104,16 +118,17 @@ pipeline {
104118
stages {
105119
stage('parallel tests') {
106120
parallel {
107-
108121
stage('Devel Build') {
109122
environment {
110123
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
111124
}
112125
steps {
113-
phone_steps("eon", [
126+
phone_steps("eon-build", [
127+
["build", "SCONS_CACHE=1 scons -j4"],
128+
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
129+
["test manager", "python selfdrive/test/test_manager.py"],
130+
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
114131
["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
115-
["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
116-
["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
117132
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
118133
["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
119134
["test text window build", "cd selfdrive/ui/text && make clean && make"],
@@ -124,7 +139,8 @@ pipeline {
124139
stage('Replay Tests') {
125140
steps {
126141
phone_steps("eon2", [
127-
["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
142+
["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
143+
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
128144
])
129145
}
130146
}
@@ -135,13 +151,30 @@ pipeline {
135151
["build", "SCONS_CACHE=1 scons -j4"],
136152
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
137153
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
138-
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
139-
//["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
154+
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
155+
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
156+
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
157+
["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
140158
//["test updater", "python installer/updater/test_updater.py"],
141159
])
142160
}
143161
}
144162

163+
stage('Tici Build') {
164+
environment {
165+
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
166+
}
167+
steps {
168+
phone_steps("tici", [
169+
["build", "SCONS_CACHE=1 scons -j16"],
170+
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
171+
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
172+
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
173+
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
174+
])
175+
}
176+
}
177+
145178
}
146179
}
147180
}
@@ -158,3 +191,4 @@ pipeline {
158191
}
159192
}
160193
}
194+

‎README.md‎

Lines changed: 15 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -77,16 +77,17 @@ Supported Cars
7777
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
7878
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
7979
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
80-
| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
80+
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
8181
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
8282
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
8383
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
8484
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
8585
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
86-
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
86+
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
8787
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
8888
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
8989
| Lexus | ES 2019-20 | All | openpilot | 0mph | 0mph |
90+
| Lexus | ES Hybrid 2018 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
9091
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
9192
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
9293
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
@@ -96,15 +97,16 @@ Supported Cars
9697
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
9798
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
9899
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
99-
| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
100+
| Toyota | Avalon 2016-18, 2021 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
100101
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
101102
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
102103
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
103-
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
104+
| Toyota | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
105+
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
104106
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
105107
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
106108
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
107-
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
109+
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
108110
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
109111
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
110112
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
@@ -113,6 +115,7 @@ Supported Cars
113115
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
114116
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
115117
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
118+
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
116119
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
117120
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
118121
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
@@ -129,14 +132,15 @@ Community Maintained Cars and Features
129132

130133
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
131134
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
135+
| Audi | A3 2015, 2017 | Prestige | Stock | 0mph | 0mph |
132136
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
133137
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
134138
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
135139
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
136140
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
137141
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
138142
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
139-
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
143+
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
140144
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
141145
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
142146
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
@@ -148,17 +152,18 @@ Community Maintained Cars and Features
148152
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
149153
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
150154
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
151-
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
152-
| Hyundai | Sonata 2019 | SCC + LKAS | Stock | 0mph | 0mph |
155+
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
156+
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
153157
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
154158
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
155159
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
156-
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
160+
| Kia | Forte 2018-19, 2021 | SCC + LKAS | Stock | 0mph | 0mph |
157161
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
158162
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
159163
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
160164
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
161165
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
166+
| Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph |
162167
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
163168
| Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
164169
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
@@ -263,7 +268,7 @@ By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privac
263268
Safety and Testing
264269
----
265270

266-
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
271+
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
267272
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
268273
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
269274
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
@@ -331,8 +336,6 @@ Directory Structure
331336
├── test # Unit tests, system tests and a car simulator
332337
└── ui # The UI
333338

334-
To understand how the services interact, see `cereal/service_list.yaml`.
335-
336339
Licensing
337340
------
338341

‎RELEASES.md‎

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@@ -1,3 +1,20 @@
1+
Version 0.8.2 (2021-02-26)
2+
========================
3+
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
4+
* Use model heading prediction for smoother lateral control
5+
* Smarter actuator delay compensation
6+
* Improve qcamera resolution for improved video in explorer and connect
7+
* Adjust maximum engagement speed to better fit the model's training distribution
8+
* New driver monitoring model trained with 3x more diverse data
9+
* Improved face detection with masks
10+
* More predictable DM alerts when visibility is bad
11+
* Rewritten video streaming between openpilot processes
12+
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
13+
* Audi A3 2015 and 2017 support thanks to keeleysam!
14+
* Nissan Altima 2020 support thanks to avolmensky!
15+
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
16+
* Toyota Camry Hybrid 2021 support thanks to alancyau!
17+
118
Version 0.8.1 (2020-12-21)
219
========================
320
* Original EON is deprecated, upgrade to comma two

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