Fix Memory leaks from merge issues. update scons

Update SConstruct
Update Scons, Fix runner, fix args in rgb_to_yuv.c
more scons fixes
Fix Memory leaks from merge issues. update scons

RELEASES.md

@@ -1,11 +1,10 @@
-Version 0.7.5 (2020-04-23)
+Version 0.7.5 (2020-xx-xx)
 ========================
 * Right-Hand Drive support for both driving and driver monitoring!
+* New driving model: 
 * New driver monitoring model: overall improvement on comma two
 * Driver camera preview in settings to improve mounting position
-* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
 * 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
-* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
 
 Version 0.7.4 (2020-03-20)
 ========================

SConstruct

@@ -13,33 +13,28 @@ AddOption('--asan',
 
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 is_tbp = os.path.isfile('/data/tinkla_buddy_pro')
+if arch == "aarch64" and is_tbp:
+  arch = "jarch64"
 if platform.system() == "Darwin":
   arch = "Darwin"
-if arch == "aarch64" and (not os.path.isdir("/system")) and not is_tbp:
+if arch == "aarch64" and (not os.path.isdir("/system")):
   arch = "larch64"
 
 webcam = bool(ARGUMENTS.get("use_webcam", 0))
 
-if arch == "aarch64":
-  if is_tbp:
-    webcam=True
-    lenv = {
-      "LD_LIBRARY_PATH": '/usr/lib:/usr/local/lib/:/usr/lib/aarch64-linux-gnu',
-      "PATH": os.environ['PATH'],
-      "ANDROID_DATA": "/data",
-      "ANDROID_ROOT": "/",
-    }
-  else:
-    lenv = {
-      "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-      "PATH": os.environ['PATH'],
-      "ANDROID_DATA": os.environ['ANDROID_DATA'],
-      "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
-    }
+if arch == "aarch64" or arch == "larch64":
+  lenv = {
+    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
+    "PATH": os.environ['PATH'],
+  }
+
+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
 
   cpppath = [
     "#phonelibs/opencl/include",
-    "#phonelibs/snpe/include",
   ]
 
   libpath = [
@@ -48,43 +43,57 @@ if arch == "aarch64":
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
     "#phonelibs/nanovg",
-    "#phonelibs/snpe/aarch64",
-    "#phonelibs/libyuv/lib",
   ]
-
-  if is_tbp:
-    cflags = []
-    cxxflags = []
-    cpppath = [
-      "/usr/local/include",
-      "/usr/local/include/opencv4",
-      "/usr/include/khronos-api",
-      "/usr/include",
-      "#phonelibs/snpe/include",
-      "/usr/include/aarch64-linux-gnu",
-    ]
-    libpath = [
-      "/usr/local/lib",
-      "/usr/lib/aarch64-linux-gnu",
-      "/usr/lib",
-      "/data/op_rk3399_setup/external/snpe/lib/lib",
-      "/data/data/com.termux/files/usr/lib",
-      "#phonelibs/nanovg",
-      "/data/op_rk3399_setup/support_files/lib",
-    ]
-    rpath = ["/system/vendor/lib64",
-      "/usr/local/lib",
-      "/usr/lib/aarch64-linux-gnu",
-      "/usr/lib",
-      "/data/op_rk3399_setup/external/snpe/lib/lib",
-      "/data/op_rk3399_setup/support_files/lib",
-      "cereal",
-      "selfdrive/common",
-    ] 
+
+  if arch == "larch64":
+    cpppath += ["#phonelibs/capnp-cpp/include", "#phonelibs/capnp-c/include"]
+    libpath += ["#phonelibs/snpe/larch64"]
+    libpath += ["#phonelibs/libyuv/larch64/lib"]
+    libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath = ["/usr/local/lib"]
   else:
+    libpath += ["#phonelibs/snpe/aarch64"]
+    libpath += ["#phonelibs/libyuv/lib"]
     cflags = ["-DQCOM", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
     rpath = ["/system/vendor/lib64"]
+elif arch == "jarch64":
+  webcam=True
+  lenv = {
+      "LD_LIBRARY_PATH": '/usr/lib:/usr/local/lib/:/usr/lib/aarch64-linux-gnu',
+      "PATH": os.environ['PATH'],
+      "ANDROID_DATA": "/data",
+      "ANDROID_ROOT": "/",
+  }
+  cflags = []
+  cxxflags = []
+  cpppath = [
+    "/usr/local/include",
+    "/usr/local/include/opencv4",
+    "/usr/include/khronos-api",
+    "/usr/include",
+    "#phonelibs/snpe/include",
+    "/usr/include/aarch64-linux-gnu",
+  ]
+  libpath = [
+    "/usr/local/lib",
+    "/usr/lib/aarch64-linux-gnu",
+    "/usr/lib",
+    "/data/op_rk3399_setup/external/snpe/lib/lib",
+    "/data/data/com.termux/files/usr/lib",
+    "#phonelibs/nanovg",
+    "/data/op_rk3399_setup/support_files/lib",
+  ]
+  rpath = ["/usr/local/lib",
+    "/usr/lib/aarch64-linux-gnu",
+    "/usr/lib",
+    "/data/op_rk3399_setup/external/snpe/lib/lib",
+    "/data/op_rk3399_setup/support_files/lib",
+    "cereal",
+    "selfdrive/common",
+  ] 
 else:
   lenv = {
     "PATH": "#external/bin:" + os.environ['PATH'],
@@ -221,10 +230,13 @@ def abspath(x):
     return x[0].path.rsplit("/", 1)[1][:-3]
 
 # still needed for apks
-zmq = FindFile("libzmq.a", libpath)
+if arch == 'larch64':
+  zmq = 'zmq'
+else:
+  zmq = FindFile("libzmq.a", libpath)
 if is_tbp:
   zmq = FindFile("libzmq.so", libpath)
-Export('env', 'arch', 'zmq', 'SHARED', 'webcam', 'is_tbp')
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -269,7 +281,7 @@ SConscript(['selfdrive/proclogd/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])
 
-if arch == "aarch64" and not is_tbp:
+if arch == "aarch64":
   SConscript(['selfdrive/logcatd/SConscript'])
   SConscript(['selfdrive/sensord/SConscript'])
   SConscript(['selfdrive/clocksd/SConscript'])

common/android.py

@@ -232,7 +232,7 @@ def get_cdma_level(cdmadbm, cdmaecio):
   if network_type == NetworkType.none:
     return network_strength
   if network_type == NetworkType.wifi:
-    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
+    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('ascii')
     network_strength = NetworkStrength.unknown
     for line in out.split('\n'):
       signal_str = "SignalStrength: "
@@ -251,7 +251,7 @@ def get_cdma_level(cdmadbm, cdmaecio):
     return network_strength
   else:
     # check cell strength
-    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
+    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('ascii')
     for line in out.split('\n'):
       if "mSignalStrength" in line:
         arr = line.split(' ')

common/realtime.py

@@ -55,12 +55,10 @@ def remaining(self):
     return self._remaining
 
   # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self, offset=0.):
+  def keep_time(self):
     lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
-    elif not offset == 0.:
-      self._next_frame_time += offset
     return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate

selfdrive/boardd/boardd_setup.py

@@ -21,7 +21,7 @@
     ARCH_DIR = 'x64'
 else:
   libraries = [':libcan_list_to_can_capnp.a', 'capnp', 'kj']
-  if os.path.isdir("/system") or os.path.isdir('/data/oprun'):
+  if os.path.isdir("/system"):
     ARCH_DIR = 'aarch64'
   else:
     ARCH_DIR = 'larch64'

selfdrive/camerad/SConscript

@@ -1,18 +1,14 @@
-Import('env', 'arch', 'messaging', 'is_tbp', 'common', 'gpucommon', 'visionipc', 'cereal', 'webcam')
+Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc', 'cereal', 'webcam')
 
 libs = ['m', 'pthread', common, 'jpeg', 'json', cereal, 'OpenCL', messaging, 'czmq', 'zmq', 'capnp', 'kj', 'capnp_c', visionipc, gpucommon]
 
-if is_tbp:
-  larch =  "aarch64_TBP"
-else:
-  larch = arch
-if larch == "aarch64":
+if arch == "aarch64":
   libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
   cameras = ['cameras/camera_qcom.c']
-elif larch == "larch64":
+elif arch == "larch64":
   libs += []
   cameras = ['cameras/camera_qcom2.c']
-elif larch == "aarch64_TBP":
+elif arch == "jarch64":
     libs += ['opencv_core', 'opencv_highgui', 'opencv_video', 'opencv_imgproc', 'opencv_videoio']
     cameras = ['cameras/camera_webcam.cc']
     env = env.Clone()

selfdrive/camerad/transforms/rgb_to_yuv.c

@@ -13,7 +13,7 @@ void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, i
   assert(height % 2 == 0);
   s->width = width;
   s->height = height;
-  char args[8024];
+  char args[1024];
   printf("snprintf");
   snprintf(args, sizeof(args),
            "-cl-fast-relaxed-math  -cl-denorms-are-zero "

selfdrive/car/tesla/readconfig.sh

@@ -1,3 +1,7 @@
 CFG_FILE=/data/bb_openpilot.cfg
-CFG_CONTENT=$(cat $CFG_FILE | sed -r '/[^=]+=[^=]+/!d' | sed -r 's/\s+=\s/=/g')
+CFG_CONTENT=$(cat $CFG_FILE | sed -r "s/'/SINGLE_Q/" | sed -r '/[^=]+=[^=]+/!d' | sed -r 's/\s+=\s/=/g' | sed -e 's/[[:space:]]*\=[[:space:]]*/=/g' \
+        -e 's/#.*$//' \
+        -e 's/[[:space:]]*$//' \
+        -e 's/^[[:space:]]*//' \
+        -e "s/^\(.*\)=\([^\"']*\)$/\1=\"\2\"/" | sed -r "s/SINGLE_Q/'/" )
 eval "export $CFG_CONTENT"

selfdrive/common/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'arch', 'SHARED','is_tbp')
+Import('env', 'arch', 'SHARED')
 
 if SHARED:
   fxn = env.SharedLibrary
@@ -17,7 +17,7 @@ files = [
 ]
 
 
-if is_tbp:
+if arch == "jarch64":
   defines = {} #{"CLU_NO_CACHE": None}   
   files += [                         
     'visionbuf_cl.c',                

selfdrive/controls/controlsd.py

@@ -30,7 +30,7 @@
 
 
 LANE_DEPARTURE_THRESHOLD = 0.1
-EER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
+STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
 STEER_ANGLE_SATURATION_THRESHOLD = 250  # Degrees
 
 ThermalStatus = log.ThermalData.ThermalStatus
@@ -119,7 +119,7 @@ def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter
     else:
       events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
-if CS.vEgo > 150 * CV.MPH_TO_MS:
+  if CS.vEgo > 150 * CV.MPH_TO_MS:
     events.append(create_event('speedTooHigh', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
   # When the panda and controlsd do not agree on controls_allowed
@@ -544,7 +544,6 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   # controlsd is driven by can recv, expected at 100Hz
   rk = Ratekeeper(100, print_delay_threshold=None)
 
-  internet_needed = params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None
 
   prof = Profiler(False)  # off by default
 

selfdrive/controls/lib/alerts.py

@@ -110,7 +110,7 @@ def __gt__(self, alert2):
 
   Alert(
       "preDriverDistracted",
-      "KEEP EYES ON ROAD: Driver Appears Distracted",
+      "KEEP EYES ON ROAD: Driver Distracted",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
@@ -272,7 +272,7 @@ def __gt__(self, alert2):
   Alert(
       "dataNeededNoEntry",
       "openpilot Unavailable",
-      "Data Needed for Calibration. Upload Drive, Try Again",
+      "Calibration Needs Data. Upload Drive, Try Again",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
 
@@ -526,6 +526,13 @@ def __gt__(self, alert2):
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
+  Alert(
+      "speedTooHigh",
+      "Speed Too High",
+      "Slow down to resume operation",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
+
   # Cancellation alerts causing non-entry
   Alert(
       "overheatNoEntry",
@@ -544,7 +551,7 @@ def __gt__(self, alert2):
   Alert(
       "calibrationInvalidNoEntry",
       "openpilot Unavailable",
-      "Calibration Invalid: Reposition Device and Recalibrate",
+      "Calibration Invalid: Reposition Device & Recalibrate",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
@@ -745,6 +752,13 @@ def __gt__(self, alert2):
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
+  Alert(
+      "invalidLkasSettingPermanent",
+      "Stock LKAS is turned on",
+      "Turn off stock LKAS to engage",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+
   Alert(
       "internetConnectivityNeededPermanent",
       "Please connect to Internet",
@@ -801,6 +815,7 @@ def __gt__(self, alert2):
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
 
+  # offroad alerts
   Alert(
       "ldwPermanent",
       "TAKE CONTROL",

selfdrive/controls/lib/pathplanner.py

@@ -129,8 +129,8 @@ def update(self, sm, pm, CP, VM):
 
       # starting
       elif self.lane_change_state == LaneChangeState.laneChangeStarting:
-        # fade out lanelines over .5s
-        self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2*DT_MDL, 0.0)
+        # fade out lanelines over 1s
+        self.lane_change_ll_prob = max(self.lane_change_ll_prob - DT_MDL, 0.0)
         # 98% certainty
         if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
           self.lane_change_state = LaneChangeState.laneChangeFinishing
@@ -157,7 +157,7 @@ def update(self, sm, pm, CP, VM):
     if desire == log.PathPlan.Desire.laneChangeRight or desire == log.PathPlan.Desire.laneChangeLeft:
       self.LP.l_prob *= self.lane_change_ll_prob
       self.LP.r_prob *= self.lane_change_ll_prob
-      self.libmpc.init_weights(MPC_COST_LAT.PATH / 3.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
+      self.libmpc.init_weights(MPC_COST_LAT.PATH / 10.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
     else:
       self.libmpc.init_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)