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openpilot v0.8.0 release
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Vehicle Researcher committed Nov 24, 2020
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2 changes: 1 addition & 1 deletion CONTRIBUTING.md
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Expand Up @@ -28,7 +28,7 @@ Code is automatically checked for style by Github Actions as part of the automat

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). You might also be eligible for a bounty.

## Pull Requests

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22 changes: 12 additions & 10 deletions README.md
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Expand Up @@ -66,7 +66,7 @@ Supported Cars
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
| Acura | RDX 2020 | AcuraWatch | Stock | 0mph | 3mph |
| 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 |
Expand All @@ -78,41 +78,44 @@ Supported Cars
| 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 | 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 |
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
| Lexus | ES 2019-20 | All | openpilot | 0mph | 0mph |
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
| 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 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 Hybrid 2018-19 | All | Stock | 0mph<sup>4</sup> | 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 |
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
| 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 Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander Hybrid 2020 | 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 |
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |

<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/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. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
Expand All @@ -136,7 +139,7 @@ Community Maintained Cars and Features
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
| GMC | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| 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 |
Expand All @@ -149,6 +152,7 @@ Community Maintained Cars and Features
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
Expand All @@ -162,8 +166,7 @@ Community Maintained Cars and Features
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |

<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built giraffe](https://github.com/commaai/openpilot/wiki/GM). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
<sup>2</sup>Requires a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />

Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)

Expand Down Expand Up @@ -239,7 +242,6 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
* Low light conditions, such as driving at night or in dark tunnels.
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* The driver's face is partially or completely outside field of view of the driver facing camera.
* Right hand driving vehicles.
* The driver facing camera is obstructed, covered, or damaged.

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
Expand Down Expand Up @@ -269,7 +271,7 @@ Safety and Testing

Testing on PC
------
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.

Steps:
1) Start the CARLA server on first terminal
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11 changes: 11 additions & 0 deletions RELEASES.md
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@@ -1,3 +1,14 @@
Version 0.8.0 (2020-11-30)
========================
* New driving model: fully 3D and improved cut-in detection
* UI draws 2 road edges, 4 lanelines and paths in 3D
* Major fixes to cut-in detection for openpilot longitudinal
* Grey panda is no longer supported, upgrade to comma two or black panda
* Lexus NX 2018 support thanks to matt12eagles!
* Kia Niro EV 2020 support thanks to nickn17!
* Improved lane positioning with uncertain lanelines, wide lanes and exits
* Improved lateral control for Prius and Subaru

Version 0.7.10 (2020-10-29)
========================
* Grey panda is deprecated, upgrade to comma two or black panda
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76 changes: 34 additions & 42 deletions SConstruct
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Expand Up @@ -5,6 +5,8 @@ import shutil
import subprocess
import sys
import platform
import numpy as np
from sysconfig import get_paths

TICI = os.path.isfile('/TICI')
Decider('MD5-timestamp')
Expand Down Expand Up @@ -128,6 +130,10 @@ 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=[
Expand Down Expand Up @@ -159,6 +165,7 @@ env = Environment(
"#phonelibs/linux/include",
"#phonelibs/snpe/include",
"#phonelibs/nanovg",
"#selfdrive/boardd",
"#selfdrive/common",
"#selfdrive/camerad",
"#selfdrive/camerad/include",
Expand All @@ -181,50 +188,14 @@ env = Environment(
CXXFLAGS=["-std=c++1z"] + cxxflags,
LIBPATH=libpath + [
"#cereal",
"#selfdrive/boardd",
"#selfdrive/common",
"#phonelibs",
]
],
CYTHONCFILESUFFIX=".cpp",
tools=["default", "cython"]
)

qt_env = None
if arch in ["x86_64", "Darwin", "larch64"]:
qt_env = env.Clone()

if arch == "Darwin":
qt_env['QTDIR'] = "/usr/local/opt/qt"
QT_BASE = "/usr/local/opt/qt/"
qt_dirs = [
QT_BASE + "include/",
QT_BASE + "include/QtWidgets",
QT_BASE + "include/QtGui",
QT_BASE + "include/QtCore",
QT_BASE + "include/QtDBus",
QT_BASE + "include/QtMultimedia",
]
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
else:
qt_env['QTDIR'] = "/usr"
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
]

qt_env.Tool('qt')
qt_env['CPPPATH'] += qt_dirs
qt_flags = [
"-D_REENTRANT",
"-DQT_NO_DEBUG",
"-DQT_WIDGETS_LIB",
"-DQT_GUI_LIB",
"-DQT_CORE_LIB"
]
qt_env['CXXFLAGS'] += qt_flags

if os.environ.get('SCONS_CACHE'):
cache_dir = '/tmp/scons_cache'

Expand All @@ -238,6 +209,9 @@ if os.environ.get('SCONS_CACHE'):
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:
cache_dir = '/data/scons_cache'

CacheDir(cache_dir)

node_interval = 5
Expand All @@ -261,9 +235,28 @@ def abspath(x):
# rpath works elsewhere
return x[0].path.rsplit("/", 1)[1][:-3]

#Cython build enviroment
envCython = env.Clone()
envCython["CPPPATH"] += [python_path, numpy_path]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]

python_libs = []
if arch == "Darwin":
envCython["LINKFLAGS"]=["-bundle", "-undefined", "dynamic_lookup"]
elif arch == "aarch64":
envCython["LINKFLAGS"]=["-shared"]

python_libs.append(os.path.basename(python_path))
else:
envCython["LINKFLAGS"]=["-pthread", "-shared"]

envCython["LIBS"] = python_libs

Export('envCython')

# still needed for apks
zmq = 'zmq'
Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')

# cereal and messaging are shared with the system
SConscript(['cereal/SConscript'])
Expand Down Expand Up @@ -316,6 +309,5 @@ SConscript(['selfdrive/ui/SConscript'])
if arch != "Darwin":
SConscript(['selfdrive/logcatd/SConscript'])


if arch == "x86_64":
SConscript(['tools/lib/index_log/SConscript'])
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5 changes: 3 additions & 2 deletions cereal/SConscript
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Expand Up @@ -2,19 +2,20 @@ Import('env', 'arch', 'zmq', 'cython_dependencies')

import shutil

cereal_dir = Dir('.')
gen_dir = Dir('gen')
messaging_dir = Dir('messaging')

# TODO: remove src-prefix and cereal from command string. can we set working directory?
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")

if shutil.which('capnpc-java'):
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")

# TODO: remove non shared cereal and messaging
cereal_objects = env.SharedObject([
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8 changes: 5 additions & 3 deletions cereal/car.capnp
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Expand Up @@ -73,7 +73,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
preLaneChangeLeft @57;
preLaneChangeRight @58;
laneChange @59;
invalidGiraffeToyota @60;
internetConnectivityNeeded @61;
communityFeatureDisallowed @62;
lowMemory @63;
Expand All @@ -94,14 +93,13 @@ struct CarEvent @0x9b1657f34caf3ad3 {
startupMaster @78;
fcw @79;
steerSaturated @80;
whitePandaUnsupported @81;
startupGreyPanda @82;
belowEngageSpeed @84;
noGps @85;
wrongCruiseMode @87;
modeldLagging @89;
deviceFalling @90;
fanMalfunction @91;
cameraMalfunction @92;

gasUnavailableDEPRECATED @3;
dataNeededDEPRECATED @16;
Expand All @@ -112,9 +110,13 @@ struct CarEvent @0x9b1657f34caf3ad3 {
driverMonitorOffDEPRECATED @42;
calibrationProgressDEPRECATED @47;
invalidGiraffeHondaDEPRECATED @49;
invalidGiraffeToyotaDEPRECATED @60;
whitePandaUnsupportedDEPRECATED @81;
startupGreyPandaDEPRECATED @82;
canErrorPersistentDEPRECATED @83;
focusRecoverActiveDEPRECATED @86;
neosUpdateRequiredDEPRECATED @88;
modelLagWarningDEPRECATED @93;
}
}

Expand Down
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