Merge pull request emmertex#46 from Kyroapps/HKG_community

Lane Change Assist With Blind Spot Monitoring

.gitignore

@@ -3,11 +3,14 @@ venv/
 .tags
 .ipynb_checkpoints
 .idea
+.overlay_init
+.overlay_consistent
 .sconsign.dblite
 .vscode
 model2.png
 a.out
 
+*.dylib
 *.DSYM
 *.d
 *.pyc
@@ -27,6 +30,7 @@ a.out
 config.json
 clcache
 
+persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
@@ -51,4 +55,5 @@ panda_jungle
 
 .coverage*
 htmlcov
+pandaextra
 

Dockerfile.openpilot

@@ -17,12 +17,14 @@ RUN apt-get update && apt-get install -y \
     libffi-dev \
     libglew-dev \
     libgles2-mesa-dev \
+    libglfw3-dev \
     libglib2.0-0 \
     liblzma-dev \
     libmysqlclient-dev \
     libomp-dev \
     libopencv-dev \
     libssl-dev \
+    libsqlite3-dev \
     libtool \
     libusb-1.0-0-dev \
     libzmq5-dev \

Pipfile

@@ -8,71 +8,54 @@ opencv-python= "==3.4.2.17"
 PyQt5 = "*"
 ipython = "*"
 networkx = "==2.3"
-azure-common = "==1.1.23"
+azure-core = "==1.1.1"
+azure-common = "==1.1.24"
 azure-nspkg = "==3.0.2"
 azure-storage-blob = "==2.1.0"
 azure-storage-common = "==2.1.0"
 azure-storage-nspkg = "==3.1.0"
-bincopy = "*"
-bleach = "*"
 boto = "*"
 "boto3" = "*"
-celery = "*"
 control = "*"
 datadog = "*"
-decorator = "*"
 dlib = "*"
-dominate = "*"
 elasticsearch = "*"
-fasteners = "*"
 future = "*"
 futures = "*"
-gevent = "*"
 pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
 gunicorn = "*"
 "h5py" = "*"
 hexdump = "*"
 "html5lib" = "*"
 imageio = "*"
-intervaltree = "*"
 ipykernel = "*"
 joblib = "*"
 json-logging-py = "*"
 jupyter = "*"
 libarchive = "*"
 lru-dict = "*"
-lxml = "*"
 "mpld3" = "*"
 msgpack-python = "*"
 nbstripout = "*"
-nose-parameterized = "*"
 numpy = "*"
 osmium = "*"
 pbr = "*"
 percache = "*"
 pprofile = "*"
-psutil = "*"
 pycurl = "*"
 git-pylint-commit-hook = "*"
 pymongo = "*"
 "pynmea2" = "*"
 pypolyline = "*"
-pysendfile = "*"
 python-logstash = "*"
-pyvcd = "*"
 redis = "*"
-redlock = "*"
 "s2sphere" = "*"
 scikit-image = "*"
 "subprocess32" = "*"
-supervisor = "*"
 tenacity = "*"
 tensorflow-gpu = ""
-utm = "*"
-"v4l2" = "*"
 PyJWT = "==1.4.1"
 PyMySQL = "==0.9.2"
-Theano = "*"
 Werkzeug = "*"
 "backports.lzma" = "*"
 Flask-Cors = "*"
@@ -84,23 +67,20 @@ PyNaCl = "*"
 reverse_geocoder = "*"
 Shapely = "*"
 SQLAlchemy = "*"
-uWSGI = "*"
 scipy = "*"
 fastcluster = "*"
 backports-abc = "*"
 pygame = "*"
 simplejson = "*"
 python-logstash-async = "*"
 seaborn = "*"
-tensorflow-estimator = "*"
 pyproj = "*"
 mock = "*"
-blinker = "*"
-gast = "==0.2.2"
 matplotlib = "*"
 dictdiffer = "*"
 aenum = "*"
 coverage = "*"
+azure-cli-core = "*"
 
 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
@@ -144,6 +124,5 @@ pillow = "*"
 scons = "*"
 cysignals = "*"
 
-
 [requires]
 python_version = "3.7.3"

RELEASES.md

@@ -1,3 +1,12 @@
+Version 0.7.1 (2020-01-20)
+========================
+ * comma two support!
+ * Lane Change Assist above 45 mph!
+ * Replace zmq with custom messaging library, msgq!
+ * Supercombo model: calibration and driving models are combined for better lead estimate
+ * More robust updater thanks to jyoung8607! Requires NEOS update
+ * Improve low speed ACC tuning
+
 Version 0.7 (2019-12-13)
 ========================
  * Move to SCons build system!

SConstruct

@@ -46,6 +46,7 @@ else:
     "#phonelibs/capnp-cpp/include",
     "#phonelibs/capnp-c/include",
     "#phonelibs/zmq/x64/include",
+    "#external/tensorflow/include",
   ]
   libpath = [
     "#phonelibs/capnp-cpp/x64/lib",
@@ -55,13 +56,15 @@ else:
     "#phonelibs/zmq/x64/lib",
     "#phonelibs/libyuv/x64/lib",
     "#external/zmq/lib",
+    "#external/tensorflow/lib",
     "#cereal",
     "#selfdrive/common",
     "/usr/lib",
     "/usr/local/lib",
   ]
 
   rpath = ["phonelibs/capnp-cpp/x64/lib",
+           "external/tensorflow/lib",
            "cereal",
            "selfdrive/common"]
 
@@ -201,11 +204,13 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
 
+SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/loggerd/SConscript'])
+
 if arch == "aarch64":
   SConscript(['selfdrive/logcatd/SConscript'])
-  SConscript(['selfdrive/ui/SConscript'])
   SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/loggerd/SConscript'])
+  SConscript(['selfdrive/clocksd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
 

cereal/.gitignore

@@ -10,5 +10,5 @@ libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
-libcereal_shared.so
+libcereal_shared.*
 

cereal/README.md

@@ -0,0 +1,42 @@
+What is cereal?
+----
+
+cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
+
+Imagine this use case:
+* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
+* A calibration process subscribes to the sensorEvents packet to use the IMU
+* A localization process subscribes to the sensorEvents packet to use the IMU also
+
+
+Messaging Spec
+----
+
+You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
+
+All Events have a logMonoTime and a valid. Then a big union defines the packet type.
+
+
+Pub Sub Backends
+----
+
+cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+
+Example
+---
+```python
+import cereal.messaging as messaging
+
+# in subscriber
+sm = messaging.SubMaster(['sensorEvents'])
+while 1:
+  sm.update()
+  print(sm['sensorEvents'])
+
+# in publisher
+pm = messaging.PubMaster(['sensorEvents'])
+dat = messaging.new_message()
+dat.init('sensorEvents', 1)
+dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
+pm.send('sensorEvents', dat)
+```

cereal/SConscript

@@ -29,7 +29,7 @@ cereal_objects = env.SharedObject([
   ])
 
 env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects)
+env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
 
 cereal_dir = Dir('.')
 services_h = env.Command(
@@ -49,7 +49,7 @@ Depends('messaging/impl_zmq.cc', services_h)
 
 # note, this rebuilds the deps shared, zmq is statically linked to make APK happy
 # TODO: get APK to load system zmq to remove the static link
-shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else []
+shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
 env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
 
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])

cereal/car.capnp

@@ -88,8 +88,13 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     lowMemory @63;
     stockAeb @64;
     ldw @65;
-    turningIndicatorOn @66;
-    lkasButtonOff @67;
+    carUnrecognized @66;
+    radarCommIssue @67;
+    turningIndicatorOn @68;
+    lkasButtonOff @69;
+    rightLCAbsm @70;
+    leftLCAbsm @71;
+    preventLCA @72;
   }
 }
 
@@ -419,11 +424,11 @@ struct CarParams {
 
   enum SafetyModel {
     silent @0;
-    honda @1;
+    hondaNidec @1;
     toyota @2;
     elm327 @3;
     gm @4;
-    hondaBosch @5;
+    hondaBoschGiraffe @5;
     ford @6;
     cadillac @7;
     hyundai @8;
@@ -437,7 +442,9 @@ struct CarParams {
     toyotaIpas @16;
     allOutput @17;
     gmAscm @18;
-    noOutput @19;  # like silent but with silent CAN TXs
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBoschHarness @20;
+    volkswagenPq @21;
   }
 
   enum SteerControlType {
@@ -453,13 +460,21 @@ struct CarParams {
 
   struct CarFw {
     ecu @0 :Ecu;
-    fwVersion @1 :Text;
+    fwVersion @1 :Data;
+    address @2: UInt32;
+    subAddress @3: UInt8;
   }
 
   enum Ecu {
     eps @0;
     esp @1;
     fwdRadar @2;
     fwdCamera @3;
+    engine @4;
+    unknown @5;
+
+    # Toyota only
+    dsu @6;
+    apgs @7;
   }
 }