openpilot v0.7.6 release

.gitignore

@@ -57,6 +57,8 @@ panda_jungle
 
 .coverage*
 coverage.xml
+cppcheck_report.txt
 htmlcov
 pandaextra
 
+.mypy_cache/

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 [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
 
 ## Getting Started
 
@@ -18,7 +18,7 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This
 
 ### Automated Testing
 
-All PRs are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould 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 sould be added to Github Actions.
 
 ### Code Style and Linting
 
@@ -48,3 +48,4 @@ Modules that are in seperate repositories include:
 * laika
 * opendbc
 * panda
+* rednose

README.md

@@ -72,7 +72,7 @@ Supported Cars
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2019-20     | Honda Sensing     | Stock            | 0mph               | 2mph<sup>2</sup>  |
 | Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 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             |
@@ -91,6 +91,7 @@ Supported Cars
 | Lexus     | RX 2016-17                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2020                       | 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                   | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Avalon 2017-18                | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
@@ -114,7 +115,7 @@ Supported Cars
 | Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 
 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
@@ -135,34 +136,32 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Genesis   | G80 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G90 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
+| GMC       | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq 2017<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Ioniq 2019 EV<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Kona 2017-19<sup>2</sup>      | SCC + LKAS        | Stock            | 22mph              | 0mph         |
 | Hyundai   | Kona 2019 EV<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Palisade 2020<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2019<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2020<sup>2</sup>       | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2019-20                | All               | Stock            | 0mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-19<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017<sup>2</sup>       | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019<sup>2</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2019                     | Propilot          | Stock            | 0mph               | 0mph         |
-| Nissan    | X-Trail 2018                  | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2018-19<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2019<sup>2</sup>        | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2017<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 
 <sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-<sup>2</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
-<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
+<sup>2</sup>May require a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />
 
 Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
 
@@ -328,6 +327,7 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 
 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
 
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg)](https://github.com/commaai/openpilot/actions)
 [![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
 [![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
 [![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)

RELEASES.md

@@ -1,11 +1,18 @@
+Version 0.7.6 (2020-06-05)
+========================
+* White panda is deprecated, upgrade to comma two or black panda
+* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+* Huge CPU savings in modeld by using thneed!
+* Lots of code cleanup and refactors
+
 Version 0.7.5 (2020-05-13)
 ========================
 * Right-Hand Drive support for both driving and driver monitoring!
 * New driving model: improved at sharp turns and lead speed estimation
 * 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

@@ -43,10 +43,9 @@ if arch == "aarch64" or arch == "larch64":
   ]
 
   if arch == "larch64":
-    cpppath += ["#phonelibs/capnp-cpp/include"]
     libpath += ["#phonelibs/snpe/larch64"]
     libpath += ["#phonelibs/libyuv/larch64/lib"]
-    libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
+    libpath += ["/usr/lib/aarch64-linux-gnu"]
     cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     rpath = ["/usr/local/lib"]
@@ -62,14 +61,11 @@ else:
     "PATH": "#external/bin:" + os.environ['PATH'],
   }
   cpppath = [
-    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/zmq/x64/include",
     "#external/tensorflow/include",
   ]
 
   if arch == "Darwin":
     libpath = [
-      "#phonelibs/capnp-cpp/mac/lib",
       "#phonelibs/libyuv/mac/lib",
       "#cereal",
       "#selfdrive/common",
@@ -78,20 +74,16 @@ else:
     ]
   else:
     libpath = [
-      "#phonelibs/capnp-cpp/x64/lib",
       "#phonelibs/snpe/x86_64-linux-clang",
-      "#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",
-           "phonelibs/zmq/x64/lib",
+  rpath = [
            "external/tensorflow/lib",
            "cereal",
            "selfdrive/common"]
@@ -114,11 +106,9 @@ env = Environment(
     "-g",
     "-fPIC",
     "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
+    "-Werror",
+    "-Wno-deprecated-register",
+    "-Wno-inconsistent-missing-override",
   ] + cflags + ccflags_asan,
 
   CPPPATH=cpppath + [
@@ -128,7 +118,6 @@ env = Environment(
     "#phonelibs/libyuv/include",
     "#phonelibs/openmax/include",
     "#phonelibs/json11",
-    "#phonelibs/eigen",
     "#phonelibs/curl/include",
     #"#phonelibs/opencv/include", # use opencv4 instead
     "#phonelibs/libgralloc/include",
@@ -189,10 +178,7 @@ def abspath(x):
     return x[0].path.rsplit("/", 1)[1][:-3]
 
 # still needed for apks
-if arch == 'larch64':
-  zmq = 'zmq'
-else:
-  zmq = FindFile("libzmq.a", libpath)
+zmq = 'zmq'
 Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
 
 # cereal and messaging are shared with the system
@@ -238,11 +224,12 @@ SConscript(['selfdrive/proclogd/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])
 
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/models/SConscript'])
+
 if arch == "aarch64":
   SConscript(['selfdrive/logcatd/SConscript'])
   SConscript(['selfdrive/sensord/SConscript'])
   SConscript(['selfdrive/clocksd/SConscript'])
-
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/kalman/SConscript'])
-SConscript(['tools/lib/index_log/SConscript'])
+else:
+  SConscript(['tools/lib/index_log/SConscript'])

codecov.yml

@@ -1,3 +1,4 @@
+comment: false
 coverage:
   status:
     project:

common/android.py

@@ -22,10 +22,10 @@ def get_imei(slot):
   if slot not in ("0", "1"):
     raise ValueError("SIM slot must be 0 or 1")
 
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
+  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
   if not ret:
     # allow non android to be identified differently
-    ret = "%015d" % random.randint(0, 1<<32)
+    ret = "%015d" % random.randint(0, 1 << 32)
   return ret
 
 def get_serial():
@@ -132,6 +132,7 @@ def get_network_type():
 
 def get_network_strength(network_type):
   network_strength = NetworkStrength.unknown
+
   # from SignalStrength.java
   def get_lte_level(rsrp, rssnr):
     INT_MAX = 2147483647

common/api/__init__.py

@@ -39,4 +39,3 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   headers['User-Agent'] = "openpilot-" + version
 
   return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
-

common/apk.py

@@ -13,7 +13,7 @@ def get_installed_apks():
   ret = {}
   for x in dat:
     if x.startswith("package:"):
-      v,k = x.split("package:")[1].split("=")
+      v, k = x.split("package:")[1].split("=")
       ret[k] = v
   return ret
 

common/basedir.py

@@ -8,4 +8,3 @@
 else:
   PERSIST = os.path.join(BASEDIR, "persist")
   PARAMS = os.path.join(BASEDIR, "persist", "params")
-

common/file_helpers.py

@@ -44,7 +44,8 @@ def name(self):
   def close(self):
     os.rename(self._path, self._target_path)
 
-  def __enter__(self): return self
+  def __enter__(self):
+    return self
 
   def __exit__(self, type, value, traceback):
     if type is None:
@@ -63,7 +64,8 @@ def name(self):
   def close(self):
     shutil.rmtree(self._path)
 
-  def __enter__(self): return self
+  def __enter__(self):
+    return self
 
   def __exit__(self, type, value, traceback):
     self.close()

common/logging_extra.py

@@ -68,8 +68,11 @@ class SwagErrorFilter(logging.Filter):
   def filter(self, record):
     return record.levelno < logging.ERROR
 
-_tmpfunc = lambda: 0
-_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+def _tmpfunc():
+  return 0
+
+def _srcfile():
+  return os.path.normcase(_tmpfunc.__code__.co_filename)
 
 class SwagLogger(logging.Logger):
   def __init__(self):

common/manager_helpers.py

@@ -6,13 +6,13 @@ def print_cpu_usage(first_proc, last_proc):
   r = 0
   procs = [
       ("selfdrive.controls.controlsd", 59.46),
-      ("./_modeld", 48.94),
+      ("./_modeld", 6.75),
       ("./loggerd", 28.49),
       ("selfdrive.controls.plannerd", 19.77),
       ("selfdrive.controls.radard", 9.54),
       ("./_ui", 9.54),
       ("./camerad", 7.07),
-      ("selfdrive.locationd.locationd", 7.13),
+      ("selfdrive.locationd.locationd", 27.46),
       ("./_sensord", 6.17),
       ("selfdrive.controls.dmonitoringd", 5.48),
       ("./boardd", 3.63),

common/numpy_fast.py

@@ -6,6 +6,7 @@ def clip(x, lo, hi):
 
 def interp(x, xp, fp):
   N = len(xp)
+
   def get_interp(xv):
     hi = 0
     while hi < N and xv > xp[hi]:
@@ -14,8 +15,8 @@ def get_interp(xv):
     return fp[-1] if hi == N and xv > xp[low] else (
       fp[0] if hi == 0 else
       (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-  return [get_interp(v) for v in x] if hasattr(
-    x, '__iter__') else get_interp(x)
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
 
 def mean(x):
   return sum(x) / len(x)

common/params.py

@@ -22,10 +22,7 @@
 """
 import time
 import os
-import string
-import binascii
 import errno
-import sys
 import shutil
 import fcntl
 import tempfile
@@ -198,7 +195,8 @@ def __enter__(self):
     finally:
       lock.release()
 
-  def __exit__(self, type, value, traceback): pass
+  def __exit__(self, type, value, traceback):
+    pass
 
 
 class DBWriter(DBAccessor):
@@ -401,22 +399,3 @@ def f(key, val):
   t = threading.Thread(target=f, args=(key, val))
   t.start()
   return t
-
-
-if __name__ == "__main__":
-  params = Params()
-  if len(sys.argv) > 2:
-    params.put(sys.argv[1], sys.argv[2])
-  else:
-    for k in keys:
-      pp = params.get(k)
-      if pp is None:
-        print("%s is None" % k)
-      elif all(chr(c) in string.printable for c in pp):
-        print("%s = %s" % (k, pp))
-      else:
-        print("%s = %s" % (k, binascii.hexlify(pp)))
-
-  # Test multiprocess:
-  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done

common/profiler.py

@@ -43,4 +43,3 @@ def display(self):
       else:
         print("%30s: %9.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
     print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
-