Revert "add wrong neos version alert (#1725)"

This reverts commit 9ff1fb48de.

.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
@@ -17,7 +20,9 @@ a.out
 .*.un~
 *.tmp
 *.o
+*.o-*
 *.os
+*.os-*
 *.so
 *.a
 *.clb
@@ -27,6 +32,7 @@ a.out
 config.json
 clcache
 
+persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
@@ -40,7 +46,7 @@ selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
 selfdrive/modeld/_modeld
-selfdrive/modeld/_monitoringd
+selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one
@@ -50,5 +56,9 @@ xx
 panda_jungle
 
 .coverage*
+coverage.xml
+cppcheck_report.txt
 htmlcov
+pandaextra
 
+.mypy_cache/

.pylintrc

@@ -1,585 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=print-statement,
-        parameter-unpacking,
-        unpacking-in-except,
-        old-raise-syntax,
-        backtick,
-        long-suffix,
-        old-ne-operator,
-        old-octal-literal,
-        import-star-module-level,
-        non-ascii-bytes-literal,
-        raw-checker-failed,
-        bad-inline-option,
-        locally-disabled,
-        locally-enabled,
-        file-ignored,
-        suppressed-message,
-        useless-suppression,
-        deprecated-pragma,
-        apply-builtin,
-        basestring-builtin,
-        buffer-builtin,
-        cmp-builtin,
-        coerce-builtin,
-        execfile-builtin,
-        file-builtin,
-        long-builtin,
-        raw_input-builtin,
-        reduce-builtin,
-        standarderror-builtin,
-        unicode-builtin,
-        xrange-builtin,
-        coerce-method,
-        delslice-method,
-        getslice-method,
-        setslice-method,
-        no-absolute-import,
-        old-division,
-        dict-iter-method,
-        dict-view-method,
-        next-method-called,
-        metaclass-assignment,
-        indexing-exception,
-        raising-string,
-        reload-builtin,
-        oct-method,
-        hex-method,
-        nonzero-method,
-        cmp-method,
-        input-builtin,
-        round-builtin,
-        intern-builtin,
-        unichr-builtin,
-        map-builtin-not-iterating,
-        zip-builtin-not-iterating,
-        range-builtin-not-iterating,
-        filter-builtin-not-iterating,
-        using-cmp-argument,
-        eq-without-hash,
-        div-method,
-        idiv-method,
-        rdiv-method,
-        exception-message-attribute,
-        invalid-str-codec,
-        sys-max-int,
-        bad-python3-import,
-        deprecated-string-function,
-        deprecated-str-translate-call,
-        deprecated-itertools-function,
-        deprecated-types-field,
-        next-method-defined,
-        dict-items-not-iterating,
-        dict-keys-not-iterating,
-        dict-values-not-iterating,
-        bad-indentation,
-        line-too-long,
-        missing-docstring,
-        multiple-statements,
-        bad-continuation,
-        invalid-name,
-        too-many-arguments,
-        too-many-locals,
-        superfluous-parens,
-        bad-whitespace,
-        too-many-instance-attributes,
-        wrong-import-position,
-        ungrouped-imports,
-        wrong-import-order,
-        protected-access,
-        trailing-whitespace,
-        too-many-branches,
-        too-few-public-methods,
-        too-many-statements,
-        trailing-newlines,
-        attribute-defined-outside-init,
-        too-many-return-statements,
-        too-many-public-methods,
-        unused-argument,
-        old-style-class,
-        no-init,
-        len-as-condition,
-        unneeded-not,
-        no-self-use,
-        multiple-imports,
-        no-else-return,
-        logging-not-lazy,
-        fixme,
-        redefined-outer-name,
-        unused-variable,
-        unsubscriptable-object,
-        expression-not-assigned,
-        too-many-boolean-expressions,
-        consider-using-ternary,
-        invalid-unary-operand-type,
-        relative-import,
-        deprecated-lambda
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception

.travis.yml

@@ -1,7 +0,0 @@
-sudo: required
-
-services:
-  - docker
-
-script:
-  - ./run_docker_tests.sh

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
 
@@ -14,18 +14,38 @@ Most open source development activity is coordinated through our [Discord](https
 
 ### Local Testing
 
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
+You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
 
 ### Automated Testing
 
-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
+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
 
-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
+Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.
 
 ## Car Ports (openpilot)
 
 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. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+
+## Pull Requests
+
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
+```
+git clone https://github.com/commaai/openpilot.git --recursive
+```
+Or alternatively, when on the master branch:
+```
+git submodule init
+git submodule update
+```
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
+Modules that are in seperate repositories include:
+* apks
+* cereal
+* laika
+* opendbc
+* panda
+* rednose

Dockerfile.openpilot

@@ -1,82 +0,0 @@
-FROM ubuntu:16.04
-ENV PYTHONUNBUFFERED 1
-
-RUN apt-get update && apt-get install -y \
-    autoconf \
-    build-essential \
-    bzip2 \
-    clang \
-    cmake \
-    curl \
-    ffmpeg \
-    git \
-    libarchive-dev \
-    libbz2-dev \
-    libcurl4-openssl-dev \
-    libeigen3-dev \
-    libffi-dev \
-    libglew-dev \
-    libgles2-mesa-dev \
-    libglib2.0-0 \
-    liblzma-dev \
-    libmysqlclient-dev \
-    libomp-dev \
-    libopencv-dev \
-    libssl-dev \
-    libtool \
-    libusb-1.0-0-dev \
-    libzmq5-dev \
-    locales \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    opencl-headers \
-    python-dev \
-    python-pip \
-    screen \
-    sudo \
-    vim \
-    wget
-
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-RUN pip install pipenv==2018.11.26
-
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-
-RUN python --version
-RUN cd /tmp && pipenv install --system --deploy
-
-# Install subset of dev dependencies needed for CI
-RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
-
-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh
-
-RUN git clone --branch v0.7 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-
-ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
-COPY ./.pylintrc /tmp/openpilot/.pylintrc
-COPY ./common /tmp/openpilot/common
-COPY ./cereal /tmp/openpilot/cereal
-COPY ./opendbc /tmp/openpilot/opendbc
-COPY ./selfdrive /tmp/openpilot/selfdrive
-COPY ./phonelibs /tmp/openpilot/phonelibs
-COPY ./pyextra /tmp/openpilot/pyextra
-COPY ./panda /tmp/openpilot/panda
-
-COPY SConstruct /tmp/openpilot/SConstruct
-
-RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN cd /tmp/openpilot && scons -j$(nproc)

Makefile

@@ -1,9 +0,0 @@
-
-code_dir := $(shell pwd)
-
-# TODO: Add a global build system
-
-.PHONY: all
-all:
-	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
-

Pipfile

@@ -1,149 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-opencv-python= "==3.4.2.17"
-PyQt5 = "*"
-ipython = "*"
-networkx = "==2.3"
-azure-common = "==1.1.23"
-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 = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Pygments = "*"
-PyNaCl = "*"
-"PySDL2" = "*"
-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 = "*"
-
-[packages]
-overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
-atomicwrites = "*"
-cffi = "*"
-crcmod = "*"
-hexdump = "*"
-libusb1 = "*"
-numpy = "*"
-psutil = "*"
-pycapnp = "*"
-cryptography = "*"
-pyserial = "*"
-python-dateutil = "*"
-pyzmq = "*"
-raven = "*"
-requests = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "*"
-tqdm = "*"
-Cython = "*"
-PyYAML = "*"
-websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
-urllib3 = "*"
-chardet = "*"
-idna = "*"
-gunicorn = "*"
-utm = "*"
-json-rpc = "*"
-Flask = "*"
-PyJWT = "*"
-"Jinja2" = "*"
-nose = "*"
-flake8 = "*"
-pylint = "*"
-pycryptodome = "*"
-pillow = "*"
-scons = "*"
-cysignals = "*"
-
-
-[requires]
-python_version = "3.7.3"

README.md

@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+[![](https://i.imgur.com/UelUjKAh.png)](#)
 
 Table of Contents
 =======================
@@ -57,98 +57,124 @@ openpilot should preserve all other vehicle's stock features, including, but are
 Supported Hardware
 ------
 
-At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON to the car. In the future, we'd like to support other platforms as well.
+At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
 
 Supported Cars
 ------
 
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019          | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | CR-V 2017-19                  | 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>5</sup>  | 12mph        |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</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>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019        | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| 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 2017-20                  | 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             |
+| Honda     | Insight 2019                  | Honda Sensing     | 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 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES 2019                       | 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 Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| 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              |
+| Toyota    | Camry Hybrid 2018-19          | 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 Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2019-20                  | All               | openpilot        | 0mph               | 0mph              |
+| 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 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 
-<sup>1</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>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <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>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 />
+<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 
 Community Maintained Cars and Features
 ------
 
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>1</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| 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                      | 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   | 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                 | 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 2018-19<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 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 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 
-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>5</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>6</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>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>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/)
 
 Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
 
+To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
+
 Installation Instructions
 ------
 
-Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
+Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
 
-Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
+Follow these [video instructions](https://youtu.be/3nlkomHathI) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
 
 Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
 
@@ -159,12 +185,14 @@ Limitations of openpilot ALC and LDW
 
 openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
 
+While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
+
 Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
 
 * Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
 * The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
 * Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
+* The device is mounted incorrectly.
 * When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
 * In the presence of restricted lanes or construction zones.
 * When driving on highly banked roads or in presence of strong cross-wind.
@@ -184,7 +212,7 @@ Many factors can impact the performance of openpilot ACC and openpilot FCW, caus
 * Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
 * The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
 * Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
+* The device is mounted incorrectly.
 * Approaching a toll booth, a bridge or a large metal plate.
 * When driving on roads with pedestrians, cyclists, etc...
 * In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
@@ -202,13 +230,13 @@ The list above does not represent an exhaustive list of situations that may inte
 Limitations of openpilot DM
 ------
 
-openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
+openpilot DM should not be considered an exact measurement of the alertness of the driver.
 
 Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
 
 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver face is partially or completely outside field of view of the driver facing camera.
+* 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.
 
@@ -230,7 +258,7 @@ Safety and Testing
 ----
 
 * openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
-* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
+* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
 * 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.
 * panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
 * Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
@@ -240,7 +268,7 @@ Safety and Testing
 Testing on PC
 ------
 
-Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
 
 Community and Contributing
 ------
@@ -257,15 +285,15 @@ Directory Structure
 ------
     .
     ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec and libs used for all logs on EON
+    ├── cereal              # The messaging spec and libs used for all logs
     ├── common              # Library like functionality we've developed here
     ├── installer/updater   # Manages auto-updates of openpilot
     ├── opendbc             # Files showing how to interpret data from cars
     ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
+    ├── phonelibs           # Libraries used on NEOS devices
+    ├── pyextra             # Libraries used on NEOS devices
     └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
+        ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
         ├── boardd          # Daemon to talk to the board
         ├── camerad         # Driver to capture images from the camera sensors
@@ -279,7 +307,7 @@ Directory Structure
         ├── modeld          # Driving and monitoring model runners
         ├── proclogd        # Logs information from proc
         ├── sensord         # IMU / GPS interface code
-        ├── tests           # Unit tests, system tests and a car simulator
+        ├── test            # Unit tests, system tests and a car simulator
         └── ui              # The UI
 
 To understand how the services interact, see `cereal/service_list.yaml`.
@@ -298,3 +326,9 @@ 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)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,3 +1,60 @@
+Version 0.7.6.1 (2020-06-16)
+========================
+* Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+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!
+* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
+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

@@ -1,6 +1,7 @@
 import os
 import subprocess
 import sys
+import platform
 
 AddOption('--test',
           action='store_true',
@@ -11,57 +12,79 @@ AddOption('--asan',
           help='turn on ASAN')
 
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+if arch == "aarch64" and not os.path.isdir("/system"):
+  arch = "larch64"
 
-if arch == "aarch64":
+webcam = bool(ARGUMENTS.get("use_webcam", 0))
+
+if arch == "aarch64" or arch == "larch64":
   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":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
   cpppath = [
     "#phonelibs/opencl/include",
   ]
+
   libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
     "/usr/lib",
     "/data/data/com.termux/files/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
-    "#phonelibs/yaml-cpp/lib",
     "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
   ]
 
-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+  if arch == "larch64":
+    libpath += ["#phonelibs/snpe/larch64"]
+    libpath += ["#phonelibs/libyuv/larch64/lib"]
+    libpath += ["/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"]
 
-  rpath = ["/system/vendor/lib64"]
 else:
   lenv = {
     "PATH": "#external/bin:" + os.environ['PATH'],
   }
   cpppath = [
-    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/capnp-c/include",
-    "#phonelibs/zmq/x64/include",
-  ]
-  libpath = [
-    "#phonelibs/capnp-cpp/x64/lib",
-    "#phonelibs/capnp-c/x64/lib",
-    "#phonelibs/yaml-cpp/x64/lib",
-    "#phonelibs/snpe/x86_64-linux-clang",
-    "#phonelibs/zmq/x64/lib",
-    "#phonelibs/libyuv/x64/lib",
-    "#external/zmq/lib",
-    "#cereal",
-    "#selfdrive/common",
-    "/usr/lib",
-    "/usr/local/lib",
+    "#external/tensorflow/include",
   ]
 
-  rpath = ["phonelibs/capnp-cpp/x64/lib",
+  if arch == "Darwin":
+    libpath = [
+      "#phonelibs/libyuv/mac/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/local/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+  else:
+    libpath = [
+      "#phonelibs/snpe/x86_64-linux-clang",
+      "#phonelibs/libyuv/x64/lib",
+      "#external/tensorflow/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+  rpath = [
+           "external/tensorflow/lib",
            "cereal",
            "selfdrive/common"]
 
@@ -83,11 +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 + [
@@ -95,13 +116,10 @@ env = Environment(
     "#selfdrive",
     "#phonelibs/bzip2",
     "#phonelibs/libyuv/include",
-    "#phonelibs/yaml-cpp/include",
     "#phonelibs/openmax/include",
-    "#phonelibs/json/src",
     "#phonelibs/json11",
-    "#phonelibs/eigen",
     "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
+    #"#phonelibs/opencv/include", # use opencv4 instead
     "#phonelibs/libgralloc/include",
     "#phonelibs/android_frameworks_native/include",
     "#phonelibs/android_hardware_libhardware/include",
@@ -159,10 +177,9 @@ def abspath(x):
     # rpath works elsewhere
     return x[0].path.rsplit("/", 1)[1][:-3]
 
-#zmq = 'zmq'
 # still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED')
+zmq = 'zmq'
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -180,7 +197,7 @@ Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
 if SHARED:
   common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
 else:
-  common = [_common, 'json']
+  common = [_common, 'json11']
   visionipc = _visionipc
   gpucommon = [_gpucommon] + _gpu_libs
 
@@ -192,21 +209,27 @@ SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['phonelibs/SConscript'])
 
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/camerad/SConscript'])
+if arch != "Darwin":
+  SConscript(['selfdrive/camerad/SConscript'])
+  SConscript(['selfdrive/modeld/SConscript'])
+
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
 
-if arch == "aarch64":
-  SConscript(['selfdrive/logcatd/SConscript'])
-  SConscript(['selfdrive/ui/SConscript'])
-  SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/loggerd/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/models/SConscript'])
 
-# TODO: finish cereal, dbcbuilder, MPC
+if arch == "aarch64":
+  SConscript(['selfdrive/logcatd/SConscript'])
+  SConscript(['selfdrive/sensord/SConscript'])
+  SConscript(['selfdrive/clocksd/SConscript'])
+else:
+  SConscript(['tools/lib/index_log/SConscript'])

cereal/.github/workflows/tests.yml

@@ -0,0 +1,25 @@
+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+
+    runs-on: ubuntu-16.04
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build docker image
+      run: docker build -t cereal .
+    - name: Static analysis
+      run: |
+        docker run cereal bash -c "git init && git add -A && pre-commit run --all"
+    - name: Unit Tests
+      run: |
+        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
+    - name: Test ZMQ
+      run: |
+        docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
+    - name: Test MSGQ
+      run: |
+        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."

cereal/.gitignore

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

cereal/.pre-commit-config.yaml

@@ -0,0 +1,27 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+-   repo: https://github.com/PyCQA/flake8
+    rev: master
+    hooks:
+    -   id: flake8
+        args:
+        - --select=F
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        args:
+        - --disable=R,C,W

cereal/Dockerfile

@@ -1,19 +1,18 @@
-from ubuntu:16.04
+FROM ubuntu:16.04
 
-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
 
 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 RUN pyenv install 3.7.3
 RUN pyenv global 3.7.3
 RUN pyenv rehash
-RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
+RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4 pre-commit==2.4.0 pylint==2.5.2
 
 WORKDIR /project/cereal
-COPY install_capnp.sh .
-RUN ./install_capnp.sh
 
 ENV PYTHONPATH=/project
 
 COPY . .
+RUN rm -rf .git
 RUN scons -c && scons -j$(nproc)

cereal/README.md

@@ -0,0 +1,41 @@
+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('sensorEvents', size=1)
+dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
+pm.send('sensorEvents', dat)
+```

cereal/SConscript

@@ -5,10 +5,6 @@ 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/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
 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'],
@@ -22,10 +18,9 @@ if shutil.which('capnpc-java'):
 
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([
-    'gen/c/car.capnp.c',
-    'gen/c/log.capnp.c',
     'gen/cpp/car.capnp.c++',
     'gen/cpp/log.capnp.c++',
+    'messaging/socketmaster.cc',
   ])
 
 env.Library('cereal', cereal_objects)
@@ -49,8 +44,10 @@ 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 []
-env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+if arch == "aarch64":
+  zmq_static = FindFile("libzmq.a", "/usr/lib")
+  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared"]
+  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
 
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)

cereal/__init__.py

@@ -1,3 +1,4 @@
+# pylint: skip-file
 import os
 import capnp
 

cereal/azure-pipelines.yml

@@ -1,14 +0,0 @@
-pr: none
-
-pool:
-  vmImage: 'ubuntu-16.04'
-
-steps:
-- script: |
-    set -e
-    docker build -t cereal .
-    docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
-    docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
-    docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
-  displayName: 'Run Tests'

cereal/car.capnp

@@ -13,12 +13,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
   name @0 :EventName;
   enable @1 :Bool;
   noEntry @2 :Bool;
-  warning @3 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
   userDisable @4 :Bool;
   softDisable @5 :Bool;
   immediateDisable @6 :Bool;
   preEnable @7 :Bool;
-  permanent @8 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
 
   enum EventName @0xbaa8c5d505f727de {
     # TODO: copy from error list
@@ -38,7 +38,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     pedalPressed @13;
     cruiseDisabled @14;
     radarCanError @15;
-    dataNeeded @16;
+    dataNeededDEPRECATED @16;
     speedTooLow @17;
     outOfSpace @18;
     overheat @19;
@@ -55,23 +55,23 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     manualRestart @30;
     lowSpeedLockout @31;
     plannerError @32;
-    ipasOverride @33;
+    ipasOverrideDEPRECATED @33;
     debugAlert @34;
     steerTempUnavailableMute @35;
     resumeRequired @36;
     preDriverDistracted @37;
     promptDriverDistracted @38;
     driverDistracted @39;
-    geofence @40;
-    driverMonitorOn @41;
-    driverMonitorOff @42;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
     preDriverUnresponsive @43;
     promptDriverUnresponsive @44;
     driverUnresponsive @45;
     belowSteerSpeed @46;
-    calibrationProgress @47;
+    calibrationProgressDEPRECATED @47;
     lowBattery @48;
-    invalidGiraffeHonda @49;
+    invalidGiraffeHondaDEPRECATED @49;
     vehicleModelInvalid @50;
     controlsFailed @51;
     sensorDataInvalid @52;
@@ -88,6 +88,25 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     lowMemory @63;
     stockAeb @64;
     ldw @65;
+    carUnrecognized @66;
+    radarCommIssue @67;
+    driverMonitorLowAcc @68;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlockedDEPRECATED @71;
+    relayMalfunction @72;
+    gasPressed @73;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupMaster @78;
+    fcw @79;
+    steerSaturated @80;
+    whitePandaUnsupported @81;
+    startupWhitePanda @82;
+    canErrorPersistent @83;
+    belowEngageSpeed @84;
   }
 }
 
@@ -116,14 +135,17 @@ struct CarState {
   brakeLights @19 :Bool;
 
   # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringAngle @7 :Float32;       # deg
+  steeringRate @15 :Float32;       # deg/s
+  steeringTorque @8 :Float32;      # TODO: standardize units
   steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
+  steerWarning @35 :Bool;          # temporary steer unavailble
+  steerError @36 :Bool;            # permanent steer error
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -148,6 +170,10 @@ struct CarState {
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
 
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;
@@ -301,6 +327,7 @@ struct CarControl {
       chimeWarning2 @5;
       chimeWarningRepeat @6;
       chimePrompt @7;
+      chimeWarning2Repeat @8;
     }
   }
 }
@@ -343,6 +370,7 @@ struct CarParams {
   tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
 
   longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
   lateralTuning :union {
     pid @26 :LateralPIDTuning;
     indi @27 :LateralINDITuning;
@@ -369,6 +397,13 @@ struct CarParams {
   carFw @44 :List(CarFw);
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   communityFeature @46: Bool;  # true if a community maintained feature is detected
+  fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -410,11 +445,11 @@ 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;
@@ -428,7 +463,10 @@ 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;
+    subaruLegacy @22;  # pre-Global platform
   }
 
   enum SteerControlType {
@@ -438,13 +476,16 @@ struct CarParams {
 
   enum TransmissionType {
     unknown @0;
-    automatic @1;
-    manual @2;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
   }
 
   struct CarFw {
     ecu @0 :Ecu;
-    fwVersion @1 :Text;
+    fwVersion @1 :Data;
+    address @2: UInt32;
+    subAddress @3: UInt8;
   }
 
   enum Ecu {
@@ -452,5 +493,33 @@ struct CarParams {
     esp @1;
     fwdRadar @2;
     fwdCamera @3;
+    engine @4;
+    unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+
+    # Toyota only
+    dsu @6;
+    apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
+  }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+    fixed @2;
+  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
   }
 }

cereal/install_capnp.sh

@@ -10,31 +10,3 @@ CXXFLAGS="-fPIC" ./configure
 
 make -j$(nproc)
 make install
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j$(nproc)
-make install
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib

cereal/log.capnp

@@ -127,6 +127,9 @@ struct FrameData {
   lensTruePos @14 :Float32;
   image @6 :Data;
   gainFrac @15 :Float32;
+  focusVal @16 :List(Int16);
+  focusConf @17 :List(UInt8);
+  sharpnessScore @18 :List(UInt16);
 
   frameType @7 :FrameType;
   timestampSof @8 :UInt64;
@@ -279,6 +282,9 @@ struct ThermalData {
   batteryCurrent @15 :Int32;
   batteryVoltage @16 :Int32;
   usbOnline @12 :Bool;
+  networkType @22 :NetworkType;
+  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
+  networkStrength @24 :NetworkStrength;
 
   fanSpeed @10 :UInt16;
   started @11 :Bool;
@@ -297,6 +303,23 @@ struct ThermalData {
     red @2;     # no engage, will disengage
     danger @3;  # immediate process shutdown
   }
+
+  enum NetworkType {
+    none @0;
+    wifi @1;
+    cell2G @2;
+    cell3G @3;
+    cell4G @4;
+    cell5G @5;
+  }
+
+  enum NetworkStrength {
+    unknown @0;
+    poor @1;
+    moderate @2;
+    good @3;
+    great @4;
+  }
 }
 
 struct HealthData {
@@ -310,6 +333,7 @@ struct HealthData {
   hasGps @6 :Bool;
   canSendErrs @7 :UInt32;
   canFwdErrs @8 :UInt32;
+  canRxErrs @19 :UInt32;
   gmlanSendErrs @9 :UInt32;
   hwType @10 :HwType;
   fanSpeedRpm @11 :UInt16;
@@ -329,6 +353,25 @@ struct HealthData {
 
   enum FaultType {
     relayMalfunction @0;
+    unusedInterruptHandled @1;
+    interruptRateCan1 @2;
+    interruptRateCan2 @3;
+    interruptRateCan3 @4;
+    interruptRateTach @5;
+    interruptRateGmlan @6;
+    interruptRateInterrupts @7;
+    interruptRateSpiDma @8;
+    interruptRateSpiCs @9;
+    interruptRateUart1 @10;
+    interruptRateUart2 @11;
+    interruptRateUart3 @12;
+    interruptRateUart5 @13;
+    interruptRateUartDma @14;
+    interruptRateUsb @15;
+    interruptRateTim1 @16;
+    interruptRateTim3 @17;
+    registerDivergent @18;
+    # Update max fault type in boardd when adding faults
   }
 
   enum HwType {
@@ -484,6 +527,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   decelForTurn @47 :Bool;
 
   decelForModel @54 :Bool;
+  canErrorCounter @57 :UInt32;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
@@ -575,6 +619,7 @@ struct ModelData {
   leadFuture @7 :LeadData;
   speed @8 :List(Float32);
   meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
 
   struct PathData {
     points @0 :List(Float32);
@@ -605,12 +650,20 @@ struct ModelData {
     yuvCorrection @5 :List(Float32);
     inputTransform @6 :List(Float32);
   }
+
   struct MetaData {
     engagedProb @0 :Float32;
     desirePrediction @1 :List(Float32);
     brakeDisengageProb @2 :Float32;
     gasDisengageProb @3 :Float32;
     steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
   }
 }
 
@@ -770,6 +823,55 @@ struct PathPlan {
   }
 }
 
+struct LiveLocationKalman {
+
+  # More info on reference frames:
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+
+  positionECEF @0 : Measurement;
+  positionGeodetic @1 : Measurement;
+  velocityECEF @2 : Measurement;
+  velocityNED @3 : Measurement;
+  velocityDevice @4 : Measurement;
+  accelerationDevice @5: Measurement;
+
+
+  # These angles are all eulers and roll, pitch, yaw
+  # orientationECEF transforms to rot matrix: ecef_from_device
+  orientationECEF @6 : Measurement;
+  orientationNED @7 : Measurement;
+  angularVelocityDevice @8 : Measurement;
+
+  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+  orientationNEDCalibrated @9 : Measurement;
+
+  # Calibrated frame is simply device frame
+  # aligned with the vehicle
+  velocityCalibrated @10 : Measurement;
+  accelerationCalibrated @11 : Measurement;
+  angularVelocityCalibrated @12 : Measurement;
+
+  gpsWeek @13 :Int32;
+  gpsTimeOfWeek @14 :Float64;
+  status @15 :Status;
+  unixTimestampMillis @16 :Int64;
+  inputsOK @17 :Bool = true;
+  posenetOK @18 :Bool = true;
+  gpsOK @19 :Bool = true;
+
+  enum Status {
+    uninitialized @0;
+    uncalibrated @1;
+    valid @2;
+  }
+
+  struct Measurement {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct LiveLocationData {
   status @0 :UInt8;
 
@@ -1413,6 +1515,7 @@ struct UbloxGnss {
     measurementReport @0 :MeasurementReport;
     ephemeris @1 :Ephemeris;
     ionoData @2 :IonoData;
+    hwStatus @3 :HwStatus;
   }
 
   struct MeasurementReport {
@@ -1536,8 +1639,29 @@ struct UbloxGnss {
     healthValid @5 :Bool;
     ionoCoeffsValid @6 :Bool;
   }
-}
 
+  struct HwStatus {
+    noisePerMS @0 :UInt16;
+    agcCnt @1 :UInt16;
+    aStatus @2 :AntennaSupervisorState;
+    aPower @3 :AntennaPowerStatus;
+    jamInd @4 :UInt8;
+
+    enum AntennaSupervisorState {
+      init @0;
+      dontknow @1;
+      ok @2;
+      short @3;
+      open @4;
+    }
+
+    enum AntennaPowerStatus {
+      off @0;
+      on @1;
+      dontknow @2;
+    }
+  }
+}
 
 struct Clocks {
   bootTimeNanos @0 :UInt64;
@@ -1674,12 +1798,14 @@ struct UiLayoutState {
   activeApp @0 :App;
   sidebarCollapsed @1 :Bool;
   mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
 
   enum App {
     home @0;
     music @1;
     nav @2;
     settings @3;
+    none @4;
   }
 }
 
@@ -1745,7 +1871,7 @@ struct OrbKeyFrame {
   descriptors @3 :Data;
 }
 
-struct DriverMonitoring {
+struct DriverState {
   frameId @0 :UInt32;
   descriptorDEPRECATED @1 :List(Float32);
   stdDEPRECATED @2 :Float32;
@@ -1757,6 +1883,28 @@ struct DriverMonitoring {
   leftBlinkProb @8 :Float32;
   rightBlinkProb @9 :Float32;
   irPwrDEPRECATED @10 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
+}
+
+struct DMonitoringState {
+  # TODO: deprecate old fields in controlsState
+  events @0 :List(Car.CarEvent);
+  faceDetected @1 :Bool;
+  isDistracted @2 :Bool;
+  awarenessStatus @3 :Float32;
+  isRHD @4 :Bool;
+  rhdChecked @5 :Bool;
+  posePitchOffset @6 :Float32;
+  posePitchValidCount @7 :UInt32;
+  poseYawOffset @8 :Float32;
+  poseYawValidCount @9 :UInt32;
+  stepChange @10 :Float32;
+  awarenessActive @11 :Float32;
+  awarenessPassive @12 :Float32;
+  isLowStd @13 :Bool;
+  hiStdCount @14 :UInt32;
+  isPreview @15 :Bool;
 }
 
 struct Boot {
@@ -1814,6 +1962,16 @@ struct KalmanOdometry {
   rotStd @3 :List(Float32); # std rad/s in device frame
 }
 
+struct Sentinel {
+  enum SentinelType {
+    endOfSegment @0;
+    endOfRoute @1;
+    startOfSegment @2;
+    startOfRoute @3;
+  }
+  type @0 :SentinelType;
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1839,7 +1997,7 @@ struct Event {
     sendcan @17 :List(CanData);
     logMessage @18 :Text;
     liveCalibration @19 :LiveCalibrationData;
-    androidLogEntry @20 :AndroidLogEntry;
+    androidLog @20 :AndroidLogEntry;
     gpsLocation @21 :GpsLocationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
@@ -1870,7 +2028,7 @@ struct Event {
     gpsLocationExternal @48 :GpsLocationData;
     location @49 :LiveLocationData;
     uiNavigationEvent @50 :UiNavigationEvent;
-    liveLocationKalman @51 :LiveLocationData;
+    liveLocationKalmanDEPRECATED @51 :LiveLocationData;
     testJoystick @52 :Joystick;
     orbOdometry @53 :OrbOdometry;
     orbFeatures @54 :OrbFeatures;
@@ -1878,7 +2036,7 @@ struct Event {
     orbKeyFrame @56 :OrbKeyFrame;
     uiLayoutState @57 :UiLayoutState;
     orbFeaturesSummary @58 :OrbFeaturesSummary;
-    driverMonitoring @59 :DriverMonitoring;
+    driverState @59 :DriverState;
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
@@ -1889,5 +2047,8 @@ struct Event {
     carEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     frontFrame @70: FrameData;
+    dMonitoringState @71: DMonitoringState;
+    liveLocationKalman @72 :LiveLocationKalman;
+    sentinel @73 :Sentinel;
   }
 }

cereal/messaging/__init__.py

@@ -1,6 +1,7 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import capnp
 
 assert MultiplePublishersError
 assert MessagingError
@@ -18,10 +19,15 @@ except ImportError:
 
 context = Context()
 
-def new_message():
+def new_message(service=None, size=None):
   dat = log.Event.new_message()
   dat.logMonoTime = int(sec_since_boot() * 1e9)
   dat.valid = True
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
   return dat
 
 def pub_sock(endpoint):
@@ -116,6 +122,7 @@ def recv_one_retry(sock):
     if dat is not None:
       return log.Event.from_bytes(dat)
 
+# TODO: This does not belong in messaging
 def get_one_can(logcan):
   while True:
     can = recv_one_retry(logcan)
@@ -146,13 +153,12 @@ class SubMaster():
         self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
       self.freq[s] = service_list[s].frequency
 
-      data = new_message()
-      if s in ['can', 'sensorEvents', 'liveTracks', 'sendCan',
-               'ethernetData', 'cellInfo', 'wifiScan',
-               'trafficEvents', 'orbObservation', 'carEvents']:
-        data.init(s, 0)
-      else:
-        data.init(s)
+      try:
+        data = new_message(s)
+      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
+        # lists
+        data = new_message(s, 0)
+
       self.data[s] = getattr(data, s)
       self.logMonoTime[s] = 0
       self.valid[s] = data.valid

cereal/messaging/bridge.cc

@@ -4,6 +4,8 @@
 #include <csignal>
 #include <map>
 
+typedef void (*sighandler_t)(int sig);
+
 #include "services.h"
 
 #include "impl_msgq.hpp"

cereal/messaging/impl_msgq.cc

@@ -85,7 +85,6 @@ Message * MSGQSubSocket::receive(bool non_blocking){
   msgq_msg_t msg;
 
   MSGQMessage *r = NULL;
-  r = NULL;
 
   int rc = msgq_msg_recv(&msg, q);
 
@@ -109,17 +108,23 @@ Message * MSGQSubSocket::receive(bool non_blocking){
     }
   }
 
-  if (rc > 0){
-    r = new MSGQMessage;
-    r->takeOwnership(msg.data, msg.size);
-  }
-  errno = msgq_do_exit ? EINTR : 0;
 
   if (!non_blocking){
     std::signal(SIGINT, prev_handler_sigint);
     std::signal(SIGTERM, prev_handler_sigterm);
   }
 
+  errno = msgq_do_exit ? EINTR : 0;
+
+  if (rc > 0){
+    if (msgq_do_exit){
+      msgq_msg_close(&msg); // Free unused message on exit
+    } else {
+      r = new MSGQMessage;
+      r->takeOwnership(msg.data, msg.size);
+    }
+  }
+
   return (Message*)r;
 }
 
@@ -138,7 +143,11 @@ int MSGQPubSocket::connect(Context *context, std::string endpoint){
   assert(context);
 
   q = new msgq_queue_t;
-  msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  if (r != 0){
+    return r;
+  }
+
   msgq_init_publisher(q);
 
   return 0;

cereal/messaging/messaging.cc

@@ -2,22 +2,28 @@
 #include "impl_zmq.hpp"
 #include "impl_msgq.hpp"
 
+#ifdef __APPLE__
+const bool MUST_USE_ZMQ = true;
+#else
+const bool MUST_USE_ZMQ = false;
+#endif
+
 Context * Context::create(){
   Context * c;
-  if (std::getenv("MSGQ")){
-    c = new MSGQContext();
-  } else {
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
     c = new ZMQContext();
+  } else {
+    c = new MSGQContext();
   }
   return c;
 }
 
 SubSocket * SubSocket::create(){
   SubSocket * s;
-  if (std::getenv("MSGQ")){
-    s = new MSGQSubSocket();
-  } else {
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
     s = new ZMQSubSocket();
+  } else {
+    s = new MSGQSubSocket();
   }
   return s;
 }
@@ -60,10 +66,10 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
 
 PubSocket * PubSocket::create(){
   PubSocket * s;
-  if (std::getenv("MSGQ")){
-    s = new MSGQPubSocket();
-  } else {
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
     s = new ZMQPubSocket();
+  } else {
+    s = new MSGQPubSocket();
   }
   return s;
 }
@@ -82,10 +88,10 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){
 
 Poller * Poller::create(){
   Poller * p;
-  if (std::getenv("MSGQ")){
-    p = new MSGQPoller();
-  } else {
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
     p = new ZMQPoller();
+  } else {
+    p = new MSGQPoller();
   }
   return p;
 }

cereal/messaging/messaging.hpp

@@ -1,7 +1,10 @@
 #pragma once
 #include <cstddef>
-#include <vector>
+#include <map>
 #include <string>
+#include <vector>
+#include <capnp/serialize.h>
+#include "../gen/cpp/log.capnp.h"
 
 #define MSG_MULTIPLE_PUBLISHERS 100
 
@@ -54,3 +57,36 @@ public:
   static Poller * create(std::vector<SubSocket*> sockets);
   virtual ~Poller(){};
 };
+
+class SubMaster {
+ public:
+  SubMaster(const std::initializer_list<const char *> &service_list,
+            const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
+  int update(int timeout = 1000);
+  inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  bool updated(const char *name) const;
+  void drain();
+  cereal::Event::Reader &operator[](const char *name);
+  ~SubMaster();
+
+ private:
+  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
+  Poller *poller_ = nullptr;
+  uint64_t frame_ = 0;
+  struct SubMessage;
+  std::map<SubSocket *, SubMessage *> messages_;
+  std::map<std::string, SubMessage *> services_;
+};
+
+class PubMaster {
+ public:
+  PubMaster(const std::initializer_list<const char *> &service_list);
+  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
+  int send(const char *name, capnp::MessageBuilder &msg);
+  ~PubMaster();
+
+ private:
+  std::map<std::string, PubSocket *> sockets_;
+};

cereal/messaging/messaging_pyx_setup.py

@@ -30,11 +30,12 @@ class BuildExtWithoutPlatformSuffix(build_ext):
 
 
 sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 
-if ARCH == "aarch64":
+if ARCH == "aarch64" and os.path.isdir("/system"):
+  # android
   extra_compile_args += ["-Wno-deprecated-register"]
   libraries += ['gnustl_shared']
 

cereal/messaging/msgq.cc

@@ -23,8 +23,8 @@
 
 #include "msgq.hpp"
 
-void sigusr1_handler(int signal) {
-  assert(signal == SIGUSR1);
+void sigusr2_handler(int signal) {
+  assert(signal == SIGUSR2);
 }
 
 uint64_t msgq_get_uid(void){
@@ -80,7 +80,7 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
 
-  std::signal(SIGUSR1, sigusr1_handler);
+  std::signal(SIGUSR2, sigusr2_handler);
 
   const char * prefix = "/dev/shm/";
   char * full_path = new char[strlen(path) + strlen(prefix) + 1];
@@ -90,8 +90,10 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
   delete[] full_path;
 
-  if (fd < 0)
+  if (fd < 0) {
+    std::cout << "Warning, could not open: " << full_path << std::endl;
     return -1;
+  }
 
   int rc = ftruncate(fd, size + sizeof(msgq_header_t));
   if (rc < 0)
@@ -136,7 +138,7 @@ void msgq_close_queue(msgq_queue_t *q){
 
 
 void msgq_init_publisher(msgq_queue_t * q) {
-  std::cout << "Starting publisher" << std::endl;
+  //std::cout << "Starting publisher" << std::endl;
   uint64_t uid = msgq_get_uid();
 
   *q->write_uid = uid;
@@ -150,6 +152,15 @@ void msgq_init_publisher(msgq_queue_t * q) {
   q->write_uid_local = uid;
 }
 
+static void thread_signal(uint32_t tid) {
+  #ifndef SYS_tkill
+    // TODO: this won't work for multithreaded programs
+    kill(tid, SIGUSR2);
+  #else
+    syscall(SYS_tkill, tid, SIGUSR2);
+  #endif
+}
+
 void msgq_init_subscriber(msgq_queue_t * q) {
   assert(q != NULL);
   assert(q->num_readers != NULL);
@@ -173,7 +184,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
         *q->read_uids[i] = 0;
 
         // Wake up reader in case they are in a poll
-        syscall(SYS_tkill, old_uid & 0xFFFFFFFF, SIGUSR1);
+        thread_signal(old_uid & 0xFFFFFFFF);
       }
 
       continue;
@@ -196,7 +207,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
     }
   }
 
-  std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
+  //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
   msgq_reset_reader(q);
 }
 
@@ -278,8 +289,7 @@ int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
   // Notify readers
   for (uint64_t i = 0; i < num_readers; i++){
     uint64_t reader_uid = *q->read_uids[i];
-
-    syscall(SYS_tkill, reader_uid & 0xFFFFFFFF, SIGUSR1);
+    thread_signal(reader_uid & 0xFFFFFFFF);
   }
 
   return msg->size;

cereal/messaging/socketmaster.cc

@@ -0,0 +1,162 @@
+#include <assert.h>
+#include <time.h>
+#include "messaging.hpp"
+#include "services.h"
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+static inline uint64_t nanos_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000000000ULL + t.tv_nsec;
+}
+static const service *get_service(const char *name) {
+  for (const auto &it : services) {
+    if (strcmp(it.name, name) == 0) return &it;
+  }
+  return nullptr;
+}
+static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+  for (auto &v : list) {
+    if (strcmp(value, v) == 0) return true;
+  }
+  return false;
+}
+
+class MessageContext {
+ public:
+  MessageContext() { ctx_ = Context::create(); }
+  ~MessageContext() { delete ctx_; }
+  Context *ctx_;
+};
+MessageContext ctx;
+
+struct SubMaster::SubMessage {
+  std::string name;
+  SubSocket *socket = nullptr;
+  int freq = 0;
+  bool updated = false, alive = false, valid = false, ignore_alive;
+  uint64_t rcv_time = 0, rcv_frame = 0;
+  void *allocated_msg_reader = nullptr;
+  capnp::FlatArrayMessageReader *msg_reader = nullptr;
+  kj::Array<capnp::word> buf;
+  cereal::Event::Reader event;
+};
+
+SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
+                     const std::initializer_list<const char *> &ignore_alive) {
+  poller_ = Poller::create();
+  for (auto name : service_list) {
+    const service *serv = get_service(name);
+    assert(serv != nullptr);
+    SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
+    assert(socket != 0);
+    poller_->registerSocket(socket);
+    SubMessage *m = new SubMessage{
+        .socket = socket,
+        .freq = serv->frequency,
+        .ignore_alive = inList(ignore_alive, name),
+        .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
+        .buf = kj::heapArray<capnp::word>(1024)};
+    messages_[socket] = m;
+    services_[name] = m;
+  }
+}
+
+int SubMaster::update(int timeout) {
+  if (++frame_ == UINT64_MAX) frame_ = 1;
+  for (auto &kv : messages_) kv.second->updated = false;
+
+  int updated = 0;
+  auto sockets = poller_->poll(timeout);
+  uint64_t current_time = nanos_since_boot();
+  for (auto s : sockets) {
+    Message *msg = s->receive(true);
+    if (msg == nullptr) continue;
+
+    SubMessage *m = messages_.at(s);
+    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
+    if (m->buf.size() < size) {
+      m->buf = kj::heapArray<capnp::word>(size);
+    }
+    memcpy(m->buf.begin(), msg->getData(), msg->getSize());
+    delete msg;
+
+    if (m->msg_reader) {
+      m->msg_reader->~FlatArrayMessageReader();
+    }
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
+    m->event = m->msg_reader->getRoot<cereal::Event>();
+    m->updated = true;
+    m->rcv_time = current_time;
+    m->rcv_frame = frame_;
+    m->valid = m->event.getValid();
+
+    ++updated;
+  }
+
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+  }
+  return updated;
+}
+
+bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
+  int found = 0;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
+      found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
+    }
+  }
+  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
+}
+
+void SubMaster::drain() {
+  while (true) {
+    auto polls = poller_->poll(0);
+    if (polls.size() == 0)
+      break;
+
+    for (auto sock : polls) {
+      Message *msg = sock->receive(true);
+      delete msg;
+    }
+  }
+}
+
+bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
+cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
+
+SubMaster::~SubMaster() {
+  delete poller_;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    if (m->msg_reader) {
+      m->msg_reader->~FlatArrayMessageReader();
+    }
+    free(m->allocated_msg_reader);
+    delete m->socket;
+    delete m;
+  }
+}
+
+PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+  for (auto name : service_list) {
+    assert(get_service(name) != nullptr);
+    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    assert(socket);
+    sockets_[name] = socket;
+  }
+}
+
+int PubMaster::send(const char *name, capnp::MessageBuilder &msg) {
+  auto words = capnp::messageToFlatArray(msg);
+  auto bytes = words.asBytes();
+  return send(name, bytes.begin(), bytes.size());
+}
+
+PubMaster::~PubMaster() {
+  for (auto s : sockets_) delete s.second;
+}

cereal/service_list.yaml

@@ -19,19 +19,19 @@ controlsState: [8007, true, 100., 100]
 model: [8009, true, 20., 5]
 features: [8010, true, 0.]
 health: [8011, true, 2., 1]
-radarState: [8012, true, 20.]
+radarState: [8012, true, 20., 5]
 #liveUI: [8014, true, 0.]
 encodeIdx: [8015, true, 20.]
 liveTracks: [8016, true, 20.]
 sendcan: [8017, true, 100.]
 logMessage: [8018, true, 0.]
-liveCalibration: [8019, true, 5.]
+liveCalibration: [8019, true, 4., 4]
 androidLog: [8020, true, 0.]
 carState: [8021, true, 100., 10]
 # 8022 is reserved for sshd
 carControl: [8023, true, 100., 10]
 plan: [8024, true, 20.]
-liveLocation: [8025, true, 0.]
+liveLocation: [8025, true, 0., 1]
 gpsLocation: [8026, true, 1., 1]
 ethernetData: [8027, true, 0.]
 navUpdate: [8028, true, 0.]
@@ -57,7 +57,7 @@ orbslamCorrection: [8050, true, 0.]
 liveLocationCorrected: [8051, true, 0.]
 orbObservation: [8052, true, 0.]
 applanixLocation: [8053, true, 0.]
-liveLocationKalman: [8054, true, 0.]
+liveLocationKalman: [8054, true, 0., 1]
 uiNavigationEvent: [8055, true, 0.]
 orbOdometry: [8057, true, 0.]
 orbFeatures: [8058, false, 0.]
@@ -65,16 +65,18 @@ orbKeyFrame: [8059, true, 0.]
 uiLayoutState: [8060, true, 0.]
 frontEncodeIdx: [8061, true, 5.]
 orbFeaturesSummary: [8062, true, 0.]
-driverMonitoring: [8063, true, 5., 1]
+driverState: [8063, true, 5., 1]
 liveParameters: [8064, true, 10.]
 liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 5.]
+cameraOdometry: [8066, true, 20., 5]
 pathPlan: [8067, true, 20.]
 kalmanOdometry: [8068, true, 0.]
 thumbnail: [8069, true, 0.2, 1]
 carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
+dMonitoringState: [8073, true, 5., 1]
+offroadLayout: [8074, false, 0.]
 
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
@@ -102,19 +104,31 @@ testJoystick: [8056, false, 0.]
 # gpsd -- publishes EON's gps
 #   publishes: gpsNMEA
 
-# visiond -- talks to the cameras, runs the model, saves the videos
-#   publishes:  frame, model, driverMonitoring, cameraOdometry, thumbnail
+# camerad -- publishes camera frames
+#   publishes: frame, frontFrame, thumbnail
+#   subscribes: driverState
+
+# dmonitoringmodeld -- runs face detection on camera frames
+#   publishes: driverState
 
 # **** stateful data transformers ****
 
+# modeld -- runs & publishes the model 
+#   publishes: model, cameraOdometry
+#   subscribes: liveCalibration, pathPlan
+
 # plannerd -- decides where to drive the car
 #   subscribes: carState, model, radarState, controlsState, liveParameters
 #   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc
 
 # controlsd -- drives the car by sending CAN messages to panda
-#   subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
+#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
 #   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
 
+# dmonitoringd -- processes driver monitoring data and publishes driver awareness
+#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
+#   publishes: dMonitoringState
+
 # radard -- processes the radar and vision data
 #   subscribes: can, controlsState, model, liveParameters
 #   publishes:  radarState, liveTracks

check_code_quality.sh

@@ -1,12 +0,0 @@
-#!/bin/bash
-
-# Only pyflakes checks (--select=F)
-flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-RESULT=$?
-if [ $RESULT -eq 0 ]; then
-    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-    RESULT=$? & 3
-fi
-
-[ $RESULT -ne 0 ] && exit 1
-exit 0

codecov.yml

@@ -0,0 +1,8 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+

common/android.py

@@ -1,23 +1,41 @@
+import os
 import binascii
 import itertools
 import re
 import struct
 import subprocess
+import random
+from cereal import log
+
+NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength
+
+ANDROID = os.path.isfile('/EON')
 
 def getprop(key):
+  if not ANDROID:
+    return ""
   return subprocess.check_output(["getprop", key], encoding='utf8').strip()
 
-def get_imei():
-  ret = getprop("oem.device.imeicache")
-  if ret == "":
-    ret = "000000000000000"
+def get_imei(slot):
+  slot = str(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)]))
+  if not ret:
+    # allow non android to be identified differently
+    ret = "%015d" % random.randint(0, 1 << 32)
   return ret
 
 def get_serial():
-  return getprop("ro.serialno")
+  ret = getprop("ro.serialno")
+  if ret == "":
+    ret = "cccccccc"
+  return ret
 
 def get_subscriber_info():
-  ret = parse_service_call_string(["iphonesubinfo", "7"])
+  ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
   if ret is None or len(ret) < 8:
     return ""
   return ret
@@ -35,15 +53,23 @@ def reboot(reason=None):
     "i32", "1" # wait
   ])
 
-def parse_service_call_unpack(call, fmt):
-  r = parse_service_call_bytes(call)
+def service_call(call):
+  if not ANDROID:
+    return None
+
+  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
+  if 'Parcel' not in ret:
+    return None
+
+  return parse_service_call_bytes(ret)
+
+def parse_service_call_unpack(r, fmt):
   try:
     return struct.unpack(fmt, r)[0]
   except Exception:
     return None
 
-def parse_service_call_string(call):
-  r = parse_service_call_bytes(call)
+def parse_service_call_string(r):
   try:
     r = r[8:] # Cut off length field
     r = r.decode('utf_16_be')
@@ -59,11 +85,7 @@ def parse_service_call_string(call):
   except Exception:
     return None
 
-def parse_service_call_bytes(call):
-  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
-  if 'Parcel' not in ret:
-    return None
-
+def parse_service_call_bytes(ret):
   try:
     r = b""
     for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
@@ -71,3 +93,190 @@ def parse_service_call_bytes(call):
     return r
   except Exception:
     return None
+
+def get_network_type():
+  if not ANDROID:
+    return NetworkType.none
+
+  wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
+  if wifi_check is None:
+    return NetworkType.none
+  elif 'WIFI' in wifi_check:
+    return NetworkType.wifi
+  else:
+    cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
+    # from TelephonyManager.java
+    cell_networks = {
+      0: NetworkType.none,
+      1: NetworkType.cell2G,
+      2: NetworkType.cell2G,
+      3: NetworkType.cell3G,
+      4: NetworkType.cell2G,
+      5: NetworkType.cell3G,
+      6: NetworkType.cell3G,
+      7: NetworkType.cell3G,
+      8: NetworkType.cell3G,
+      9: NetworkType.cell3G,
+      10: NetworkType.cell3G,
+      11: NetworkType.cell2G,
+      12: NetworkType.cell3G,
+      13: NetworkType.cell4G,
+      14: NetworkType.cell4G,
+      15: NetworkType.cell3G,
+      16: NetworkType.cell2G,
+      17: NetworkType.cell3G,
+      18: NetworkType.cell4G,
+      19: NetworkType.cell4G
+    }
+    return cell_networks.get(cell_check, NetworkType.none)
+
+def get_network_strength(network_type):
+  network_strength = NetworkStrength.unknown
+
+  # from SignalStrength.java
+  def get_lte_level(rsrp, rssnr):
+    INT_MAX = 2147483647
+    if rsrp == INT_MAX:
+      lvl_rsrp = NetworkStrength.unknown
+    elif rsrp >= -95:
+      lvl_rsrp = NetworkStrength.great
+    elif rsrp >= -105:
+      lvl_rsrp = NetworkStrength.good
+    elif rsrp >= -115:
+      lvl_rsrp = NetworkStrength.moderate
+    else:
+      lvl_rsrp = NetworkStrength.poor
+    if rssnr == INT_MAX:
+      lvl_rssnr = NetworkStrength.unknown
+    elif rssnr >= 45:
+      lvl_rssnr = NetworkStrength.great
+    elif rssnr >= 10:
+      lvl_rssnr = NetworkStrength.good
+    elif rssnr >= -30:
+      lvl_rssnr = NetworkStrength.moderate
+    else:
+      lvl_rssnr = NetworkStrength.poor
+    return max(lvl_rsrp, lvl_rssnr)
+
+  def get_tdscdma_level(tdscmadbm):
+    lvl = NetworkStrength.unknown
+    if tdscmadbm > -25:
+      lvl = NetworkStrength.unknown
+    elif tdscmadbm >= -49:
+      lvl = NetworkStrength.great
+    elif tdscmadbm >= -73:
+      lvl = NetworkStrength.good
+    elif tdscmadbm >= -97:
+      lvl = NetworkStrength.moderate
+    elif tdscmadbm >= -110:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_gsm_level(asu):
+    if asu <= 2 or asu == 99:
+      lvl = NetworkStrength.unknown
+    elif asu >= 12:
+      lvl = NetworkStrength.great
+    elif asu >= 8:
+      lvl = NetworkStrength.good
+    elif asu >= 5:
+      lvl = NetworkStrength.moderate
+    else:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_evdo_level(evdodbm, evdosnr):
+    lvl_evdodbm = NetworkStrength.unknown
+    lvl_evdosnr = NetworkStrength.unknown
+    if evdodbm >= -65:
+      lvl_evdodbm = NetworkStrength.great
+    elif evdodbm >= -75:
+      lvl_evdodbm = NetworkStrength.good
+    elif evdodbm >= -90:
+      lvl_evdodbm = NetworkStrength.moderate
+    elif evdodbm >= -105:
+      lvl_evdodbm = NetworkStrength.poor
+    if evdosnr >= 7:
+      lvl_evdosnr = NetworkStrength.great
+    elif evdosnr >= 5:
+      lvl_evdosnr = NetworkStrength.good
+    elif evdosnr >= 3:
+      lvl_evdosnr = NetworkStrength.moderate
+    elif evdosnr >= 1:
+      lvl_evdosnr = NetworkStrength.poor
+    return max(lvl_evdodbm, lvl_evdosnr)
+
+  def get_cdma_level(cdmadbm, cdmaecio):
+    lvl_cdmadbm = NetworkStrength.unknown
+    lvl_cdmaecio = NetworkStrength.unknown
+    if cdmadbm >= -75:
+      lvl_cdmadbm = NetworkStrength.great
+    elif cdmadbm >= -85:
+      lvl_cdmadbm = NetworkStrength.good
+    elif cdmadbm >= -95:
+      lvl_cdmadbm = NetworkStrength.moderate
+    elif cdmadbm >= -100:
+      lvl_cdmadbm = NetworkStrength.poor
+    if cdmaecio >= -90:
+      lvl_cdmaecio = NetworkStrength.great
+    elif cdmaecio >= -110:
+      lvl_cdmaecio = NetworkStrength.good
+    elif cdmaecio >= -130:
+      lvl_cdmaecio = NetworkStrength.moderate
+    elif cdmaecio >= -150:
+      lvl_cdmaecio = NetworkStrength.poor
+    return max(lvl_cdmadbm, lvl_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')
+    network_strength = NetworkStrength.unknown
+    for line in out.split('\n'):
+      signal_str = "SignalStrength: "
+      if signal_str in line:
+        lvl_idx_start = line.find(signal_str) + len(signal_str)
+        lvl_idx_end = line.find(']', lvl_idx_start)
+        lvl = int(line[lvl_idx_start : lvl_idx_end])
+        if lvl >= -50:
+          network_strength = NetworkStrength.great
+        elif lvl >= -60:
+          network_strength = NetworkStrength.good
+        elif lvl >= -70:
+          network_strength = NetworkStrength.moderate
+        else:
+          network_strength = NetworkStrength.poor
+    return network_strength
+  else:
+    # check cell strength
+    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
+    for line in out.split('\n'):
+      if "mSignalStrength" in line:
+        arr = line.split(' ')
+        ns = 0
+        if ("gsm" in arr[14]):
+          rsrp = int(arr[9])
+          rssnr = int(arr[11])
+          ns = get_lte_level(rsrp, rssnr)
+          if ns == NetworkStrength.unknown:
+            tdscmadbm = int(arr[13])
+            ns = get_tdscdma_level(tdscmadbm)
+            if ns == NetworkStrength.unknown:
+              asu = int(arr[1])
+              ns = get_gsm_level(asu)
+        else:
+          cdmadbm = int(arr[3])
+          cdmaecio = int(arr[4])
+          evdodbm = int(arr[5])
+          evdosnr = int(arr[7])
+          lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
+          lvl_edmo = get_evdo_level(evdodbm, evdosnr)
+          if lvl_edmo == NetworkStrength.unknown:
+            ns = lvl_cdma
+          elif lvl_cdma == NetworkStrength.unknown:
+            ns = lvl_edmo
+          else:
+            ns = min(lvl_cdma, lvl_edmo)
+        network_strength = max(network_strength, ns)
+
+    return network_strength

common/api/__init__.py

@@ -1,13 +1,13 @@
 import jwt
 import requests
 from datetime import datetime, timedelta
-
+from common.basedir import PERSIST
 from selfdrive.version import version
 
 class Api():
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
-    with open('/persist/comma/id_rsa') as f:
+    with open(PERSIST+'/comma/id_rsa') as f:
       self.private_key = f.read()
 
   def get(self, *args, **kwargs):
@@ -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

@@ -6,14 +6,14 @@ import shutil
 from common.basedir import BASEDIR
 from selfdrive.swaglog import cloudlog
 
-android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
+android_packages = ("ai.comma.plus.offroad",)
 
 def get_installed_apks():
   dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
   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
 
@@ -26,16 +26,16 @@ def install_apk(path):
   os.remove(install_path)
   return ret == 0
 
-def start_frame():
+def start_offroad():
   set_package_permissions()
-  system("am start -n ai.comma.plus.frame/.MainActivity")
+  system("am start -n ai.comma.plus.offroad/.MainActivity")
 
 def set_package_permissions():
   pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
+  pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
+  pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
   appops_set("ai.comma.plus.offroad", "SU", "allow")
   appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
-  appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow")
-  appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow")
 
 def appops_set(package, op, mode):
   system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
@@ -95,4 +95,3 @@ def pm_apply_packages(cmd):
 
 if __name__ == "__main__":
   update_apks()
-

common/basedir.py

@@ -1,4 +1,10 @@
 import os
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
-
+from common.android import ANDROID
+if ANDROID:
+  PERSIST = "/persist"
+  PARAMS = "/data/params"
+else:
+  PERSIST = os.path.join(BASEDIR, "persist")
+  PARAMS = os.path.join(BASEDIR, "persist", "params")

common/clock.pyx

@@ -1,16 +1,22 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
+from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
 
-cdef double readclock(int clock_id):
-    cdef timespec ts
-    cdef double current
+IF UNAME_SYSNAME == "Darwin":
+  # Darwin doesn't have a CLOCK_BOOTTIME
+  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
+ELSE:
+  from posix.time cimport CLOCK_BOOTTIME
 
-    clock_gettime(clock_id, &ts)
-    current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-    return current
+cdef double readclock(clockid_t clock_id):
+  cdef timespec ts
+  cdef double current
 
+  clock_gettime(clock_id, &ts)
+  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+  return current
 
 def monotonic_time():
-    return readclock(CLOCK_MONOTONIC_RAW)
+  return readclock(CLOCK_MONOTONIC_RAW)
 
 def sec_since_boot():
-    return readclock(CLOCK_BOOTTIME)
+  return readclock(CLOCK_BOOTTIME)
+

common/ffi_wrapper.py

@@ -2,8 +2,14 @@ import os
 import sys
 import fcntl
 import hashlib
+import platform
 from cffi import FFI
 
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"
 
 def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
   if libraries is None:

common/file_helpers.py

@@ -44,7 +44,8 @@ class AutoMoveTempdir():
   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 @@ class NamedTemporaryDir():
   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/filter_simple.py

@@ -6,5 +6,4 @@ class FirstOrderFilter():
 
   def update(self, x):
     self.x = (1. - self.k) * self.x + self.k * x
-
-
+    return self.x

common/logging_extra.py

@@ -1,9 +1,11 @@
+import io
 import os
 import sys
 import copy
 import json
 import socket
 import logging
+import traceback
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -66,8 +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):
@@ -78,28 +83,6 @@ class SwagLogger(logging.Logger):
     self.log_local = local()
     self.log_local.ctx = {}
 
-  def findCaller(self, stack_info=None):
-    """
-      Find the stack frame of the caller so that we can note the source
-      file name, line number and function name.
-      """
-    # f = currentframe()
-    f = sys._getframe(3)
-    #On some versions of IronPython, currentframe() returns None if
-    #IronPython isn't run with -X:Frames.
-    if f is not None:
-      f = f.f_back
-    rv = "(unknown file)", 0, "(unknown function)"
-    while hasattr(f, "f_code"):
-      co = f.f_code
-      filename = os.path.normcase(co.co_filename)
-      if filename in (logging._srcfile, _srcfile):
-        f = f.f_back
-        continue
-      rv = (co.co_filename, f.f_lineno, co.co_name)
-      break
-    return rv
-
   def local_ctx(self):
     try:
       return self.log_local.ctx
@@ -140,6 +123,42 @@ class SwagLogger(logging.Logger):
     else:
       self.info(evt)
 
+  def findCaller(self, stack_info=False, stacklevel=1):
+    """
+    Find the stack frame of the caller so that we can note the source
+    file name, line number and function name.
+    """
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+        f = f.f_back
+    orig_f = f
+    while f and stacklevel > 1:
+        f = f.f_back
+        stacklevel -= 1
+    if not f:
+        f = orig_f
+    rv = "(unknown file)", 0, "(unknown function)", None
+    while hasattr(f, "f_code"):
+        co = f.f_code
+        filename = os.path.normcase(co.co_filename)
+        if filename == _srcfile:
+            f = f.f_back
+            continue
+        sinfo = None
+        if stack_info:
+            sio = io.StringIO()
+            sio.write('Stack (most recent call last):\n')
+            traceback.print_stack(f, file=sio)
+            sinfo = sio.getvalue()
+            if sinfo[-1] == '\n':
+                sinfo = sinfo[:-1]
+            sio.close()
+        rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+        break
+    return rv
+
 if __name__ == "__main__":
   log = SwagLogger()
 

common/manager_helpers.py

@@ -0,0 +1,50 @@
+def cputime_total(ct):
+  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
+
+
+def print_cpu_usage(first_proc, last_proc):
+  r = 0
+  procs = [
+      ("selfdrive.controls.controlsd", 59.46),
+      ("./_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", 27.46),
+      ("./_sensord", 6.17),
+      ("selfdrive.controls.dmonitoringd", 5.48),
+      ("./boardd", 3.63),
+      ("./_dmonitoringmodeld", 2.67),
+      ("selfdrive.logmessaged", 2.71),
+      ("selfdrive.thermald", 2.41),
+      ("./paramsd", 2.18),
+      ("selfdrive.locationd.calibrationd", 1.76),
+      ("./proclogd", 1.54),
+      ("./_gpsd", 0.09),
+      ("./clocksd", 0.02),
+      ("./ubloxd", 0.02),
+      ("selfdrive.tombstoned", 0),
+      ("./logcatd", 0),
+      ("selfdrive.updated", 0),
+  ]
+
+  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
+  print("------------------------------------------------")
+  for proc_name, normal_cpu_usage in procs:
+    try:
+      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
+      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
+      cpu_time = cputime_total(last) - cputime_total(first)
+      cpu_usage = cpu_time / dt * 100.
+      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
+        print(f"Warning {proc_name} using more CPU than normal")
+        r = 1
+
+      print(f"{proc_name.ljust(35)}  {cpu_usage:.2f}%")
+    except IndexError:
+      print(f"{proc_name.ljust(35)}  NO METRICS FOUND")
+  print("------------------------------------------------")
+
+  return r

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 interp(x, xp, fp):
     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

@@ -23,13 +23,12 @@ file in place without messing with <params_dir>/d.
 import time
 import os
 import errno
-import sys
 import shutil
 import fcntl
 import tempfile
 import threading
 from enum import Enum
-
+from common.basedir import PARAMS
 
 def mkdirs_exists_ok(path):
   try:
@@ -50,14 +49,16 @@ class UnknownKeyName(Exception):
 
 
 keys = {
-  "AccessToken": [TxType.PERSISTENT],
+  "AccessToken": [TxType.CLEAR_ON_MANAGER_START],
   "AthenadPid": [TxType.PERSISTENT],
   "CalibrationParams": [TxType.PERSISTENT],
   "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "CommunityFeaturesToggle": [TxType.PERSISTENT],
   "CompletedTrainingVersion": [TxType.PERSISTENT],
   "ControlsParams": [TxType.PERSISTENT],
+  "DisablePowerDown": [TxType.PERSISTENT],
   "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
   "DongleId": [TxType.PERSISTENT],
   "GitBranch": [TxType.PERSISTENT],
@@ -66,20 +67,25 @@ keys = {
   "GithubSshKeys": [TxType.PERSISTENT],
   "HasAcceptedTerms": [TxType.PERSISTENT],
   "HasCompletedSetup": [TxType.PERSISTENT],
+  "IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
   "IsLdwEnabled": [TxType.PERSISTENT],
   "IsGeofenceEnabled": [TxType.PERSISTENT],
   "IsMetric": [TxType.PERSISTENT],
+  "IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
   "IsRHD": [TxType.PERSISTENT],
   "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   "IsUploadRawEnabled": [TxType.PERSISTENT],
+  "LastAthenaPingTime": [TxType.PERSISTENT],
   "LastUpdateTime": [TxType.PERSISTENT],
   "LimitSetSpeed": [TxType.PERSISTENT],
   "LimitSetSpeedNeural": [TxType.PERSISTENT],
   "LiveParameters": [TxType.PERSISTENT],
   "LongitudinalControl": [TxType.PERSISTENT],
   "OpenpilotEnabledToggle": [TxType.PERSISTENT],
+  "LaneChangeEnabled": [TxType.PERSISTENT],
   "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "Passive": [TxType.PERSISTENT],
   "RecordFront": [TxType.PERSISTENT],
@@ -90,6 +96,7 @@ keys = {
   "TermsVersion": [TxType.PERSISTENT],
   "TrainingVersion": [TxType.PERSISTENT],
   "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
+  "UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
   "Version": [TxType.PERSISTENT],
   "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
@@ -188,7 +195,8 @@ class DBReader(DBAccessor):
     finally:
       lock.release()
 
-  def __exit__(self, type, value, traceback): pass
+  def __exit__(self, type, value, traceback):
+    pass
 
 
 class DBWriter(DBAccessor):
@@ -317,7 +325,7 @@ def write_db(params_path, key, value):
     lock.release()
 
 class Params():
-  def __init__(self, db='/data/params'):
+  def __init__(self, db=PARAMS):
     self.db = db
 
     # create the database if it doesn't exist...
@@ -325,6 +333,11 @@ class Params():
       with self.transaction(write=True):
         pass
 
+  def clear_all(self):
+    shutil.rmtree(self.db, ignore_errors=True)
+    with self.transaction(write=True):
+      pass
+
   def transaction(self, write=False):
     if write:
       return DBWriter(self.db)
@@ -386,22 +399,3 @@ def put_nonblocking(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(ord(c) < 128 and ord(c) >= 32 for c in pp):
-        print("%s = %s" % (k, pp))
-      else:
-        print("%s = %s" % (k, pp.encode("hex")))
-
-  # 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

@@ -39,8 +39,7 @@ class Profiler():
     print("******* Profiling *******")
     for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
       if n in self.cp_ignored:
-        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
       else:
-        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+        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))
-

common/spinner.py

@@ -5,21 +5,31 @@ from common.basedir import BASEDIR
 
 class Spinner():
   def __init__(self):
-    self.spinner_proc = subprocess.Popen(["./spinner"],
-                                         stdin=subprocess.PIPE,
-                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
-                                         close_fds=True)
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
 
   def __enter__(self):
     return self
 
   def update(self, spinner_text):
-    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-    self.spinner_proc.stdin.flush()
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass
 
   def close(self):
     if self.spinner_proc is not None:
-      self.spinner_proc.stdin.close()
+      try:
+        self.spinner_proc.stdin.close()
+      except BrokenPipeError:
+        pass
       self.spinner_proc.terminate()
       self.spinner_proc = None
 
@@ -30,7 +40,7 @@ class Spinner():
     self.close()
 
 
-class FakeSpinner():
+class FakeSpinner(Spinner):
   def __init__(self):
     pass
 
@@ -40,6 +50,9 @@ class FakeSpinner():
   def update(self, _):
     pass
 
+  def close(self):
+    pass
+
   def __exit__(self, type, value, traceback):
     pass
 

common/stat_live.py

@@ -32,7 +32,7 @@ class RunningStat():
       self.S_last = 0.
     else:
       self.M = self.M_last + (new_data - self.M_last) / self.n
-      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
       self.M_last = self.M
       self.S_last = self.S
 
@@ -53,7 +53,7 @@ class RunningStat():
 
 class RunningStatFilter():
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
-    self.raw_stat = RunningStat(raw_priors, max_trackable)
+    self.raw_stat = RunningStat(raw_priors, -1)
     self.filtered_stat = RunningStat(filtered_priors, max_trackable)
 
   def reset(self):
@@ -64,7 +64,7 @@ class RunningStatFilter():
     _std_last = self.raw_stat.std()
     self.raw_stat.push_data(new_data)
     _delta_std = self.raw_stat.std() - _std_last
-    if _delta_std<=0:
+    if _delta_std <= 0:
       self.filtered_stat.push_data(new_data)
     else:
       pass

common/sympy_helpers.py

@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-import sympy as sp
-import numpy as np
-
-def cross(x):
-  ret = sp.Matrix(np.zeros((3,3)))
-  ret[0,1], ret[0,2] = -x[2], x[1]
-  ret[1,0], ret[1,2] = x[2], -x[0]
-  ret[2,0], ret[2,1] = -x[1], x[0]
-  return ret
-
-def euler_rotate(roll, pitch, yaw):
-  # make symbolic rotation matrix from eulers
-  matrix_roll =  sp.Matrix([[1, 0, 0],
-                            [0, sp.cos(roll), -sp.sin(roll)],
-                            [0, sp.sin(roll), sp.cos(roll)]])
-  matrix_pitch =  sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
-                             [0, 1, 0],
-                             [-sp.sin(pitch), 0, sp.cos(pitch)]])
-  matrix_yaw =  sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
-                           [sp.sin(yaw), sp.cos(yaw), 0],
-                           [0, 0, 1]])
-  return matrix_yaw*matrix_pitch*matrix_roll
-
-def quat_rotate(q0, q1, q2, q3):
-  # make symbolic rotation matrix from quat
-  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 + q0*q3), 2*(q1*q3 - q0*q2)],
-                    [2*(q1*q2 - q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 + q0*q1)],
-                    [2*(q1*q3 + q0*q2), 2*(q2*q3 - q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
-
-def quat_matrix_l(p):
-  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
-                    [p[1],  p[0], -p[3],  p[2]],
-                    [p[2],  p[3],  p[0], -p[1]],
-                    [p[3], -p[2],  p[1],  p[0]]])
-
-def quat_matrix_r(p):
-  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
-                    [p[1],  p[0],  p[3], -p[2]],
-                    [p[2], -p[3],  p[0],  p[1]],
-                    [p[3],  p[2], -p[1],  p[0]]])
-
-
-def sympy_into_c(sympy_functions):
-  from sympy.utilities import codegen
-  routines = []
-  for name, expr, args in sympy_functions:
-    r = codegen.make_routine(name, expr, language="C99")
-
-    # argument ordering input to sympy is broken with function with output arguments
-    nargs = []
-    # reorder the input arguments
-    for aa in args:
-      if aa is None:
-        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1,1]))
-        continue
-      found = False
-      for a in r.arguments:
-        if str(aa.name) == str(a.name):
-          nargs.append(a)
-          found = True
-          break
-      if not found:
-        # [1,1] is a hack for Matrices
-        nargs.append(codegen.InputArgument(aa, dimensions=[1,1]))
-    # add the output arguments
-    for a in r.arguments:
-      if type(a) == codegen.OutputArgument:
-        nargs.append(a)
-
-    #assert len(r.arguments) == len(args)+1
-    r.arguments = nargs
-
-    # add routine to list
-    routines.append(r)
-
-  [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
-  c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
-  c_header = '\n'.join(x for x in  c_header.split("\n") if len(x) > 0 and x[0] != '#')
-
-  return c_header, c_code

common/testing.py

@@ -6,4 +6,3 @@ def phone_only(x):
     return x
   else:
     return nottest(x)
-

common/text_window.py

@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from common.basedir import BASEDIR
+
+
+class TextWindow():
+  def __init__(self, s):
+    try:
+      self.text_proc = subprocess.Popen(["./text", s],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    while True:
+      if self.get_status() == 1:
+        return
+      time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+
+class FakeTextWindow(TextWindow):
+  def __init__(self, s):
+    pass
+
+  def get_status(self):
+    return 1
+
+  def wait_for_exit(self):
+    return
+
+  def __enter__(self):
+    return self
+
+  def update(self, _):
+    pass
+
+  def close(self):
+    pass
+
+  def __exit__(self, type, value, traceback):
+    pass
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")

common/timeout.py

@@ -25,4 +25,3 @@ class Timeout:
 
   def __exit__(self, exc_type, exc_val, exc_tb):
     signal.alarm(0)
-

common/transformations/camera.py

@@ -1,6 +1,5 @@
 import numpy as np
 import common.transformations.orientation as orient
-import math
 
 FULL_FRAME_SIZE = (1164, 874)
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@@ -44,6 +43,7 @@ def get_calib_from_vp(vp):
   roll_calib = 0
   return roll_calib, pitch_calib, yaw_calib
 
+
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -59,7 +59,14 @@ def vp_from_ke(m):
 
   The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
   """
-  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
+  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
+
+
+def vp_from_rpy(rpy):
+  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
+  ke = np.dot(eon_intrinsics, e)
+  return vp_from_ke(ke)
+
 
 def roll_from_ke(m):
   # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
@@ -74,10 +81,10 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
   img_pts_normalized = img_pts.dot(intrinsics_inv.T)
   img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
-  return img_pts_normalized[:,:2].reshape(input_shape)
+  return img_pts_normalized[:, :2].reshape(input_shape)
 
 
 def denormalize(img_pts, intrinsics=eon_intrinsics):
@@ -86,13 +93,13 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
   img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
-  return img_pts_denormalized[:,:2].reshape(input_shape)
+  img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
@@ -117,41 +124,10 @@ def img_from_device(pt_device):
   pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
 
   # This function should never return negative depths
-  pt_view[pt_view[:,2] < 0] = np.nan
+  pt_view[pt_view[:, 2] < 0] = np.nan
 
-  pt_img = pt_view/pt_view[:,2:3]
-  return pt_img.reshape(input_shape)[:,:2]
-
-
-#TODO please use generic img transform below
-def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  import cv2  # pylint: disable=import-error
-
-  size = img.shape[:2]
-  rot = orient.rot_from_euler(eulers)
-  quadrangle = np.array([[0, 0],
-                         [size[1]-1, 0],
-                         [0, size[0]-1],
-                         [size[1]-1, size[0]-1]], dtype=np.float32)
-  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
-  warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
-  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-  if crop:
-    W_border = (size[1] - crop[0])//2
-    H_border = (size[0] - crop[1])//2
-    outside_crop = (((warped_quadrangle[:,0] < W_border) |
-                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
-                    ((warped_quadrangle[:,1] < H_border) |
-                     (warped_quadrangle[:,1] >= size[0] - H_border)))
-    if not outside_crop.all():
-      raise ValueError("warped image not contained inside crop")
-  else:
-    H_border, W_border = 0, 0
-  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
-  img_warped = cv2.warpPerspective(img, M, size[::-1])
-  return img_warped[H_border: size[0] - H_border,
-                    W_border: size[1] - W_border]
+  pt_img = pt_view/pt_view[:, 2:3]
+  return pt_img.reshape(input_shape)[:, :2]
 
 
 def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
@@ -169,82 +145,3 @@ def pretransform_from_calib(calib):
   camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
   camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
   return np.linalg.inv(camera_frame_from_calib_frame)
-
-
-def transform_img(base_img,
-                 augment_trans=np.array([0,0,0]),
-                 augment_eulers=np.array([0,0,0]),
-                 from_intr=eon_intrinsics,
-                 to_intr=eon_intrinsics,
-                 output_size=None,
-                 pretransform=None,
-                 top_hacks=False,
-                 yuv=False,
-                 alpha=1.0,
-                 beta=0,
-                 blur=0):
-  import cv2  # pylint: disable=import-error
-  cv2.setNumThreads(1)
-
-  if yuv:
-    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
-
-  size = base_img.shape[:2]
-  if not output_size:
-    output_size = size[::-1]
-
-  cy = from_intr[1,2]
-  def get_M(h=1.22):
-    quadrangle = np.array([[0, cy + 20],
-                           [size[1]-1, cy + 20],
-                           [0, size[0]-1],
-                           [size[1]-1, size[0]-1]], dtype=np.float32)
-    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
-    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
-                                        h*np.ones(4),
-                                        h/quadrangle_norm[:,1]))
-    rot = orient.rot_from_euler(augment_eulers)
-    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
-    to_KE = to_intr.dot(to_extrinsics)
-    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
-    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
-    return M
-
-  M = get_M()
-  if pretransform is not None:
-    M = M.dot(pretransform)
-  augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
-
-  if top_hacks:
-    cyy = int(math.ceil(to_intr[1,2]))
-    M = get_M(1000)
-    if pretransform is not None:
-      M = M.dot(pretransform)
-    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
-
-  # brightness and contrast augment
-  augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
-
-  # gaussian blur
-  if blur > 0:
-    augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
-
-  if yuv:
-    augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
-  else:
-    augmented_img = augmented_rgb
-  return augmented_img
-
-
-def yuv_crop(frame, output_size, center=None):
-  # output_size in camera coordinates so u,v
-  # center in array coordinates so row, column
-  import cv2  # pylint: disable=import-error
-  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
-  if not center:
-    center = (rgb.shape[0]/2, rgb.shape[1]/2)
-  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
-                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
-  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)

common/transformations/coordinates.py

@@ -18,9 +18,9 @@ def geodetic2ecef(geodetic, radians=False):
   geodetic = np.atleast_2d(geodetic)
 
   ratio = 1.0 if radians else (np.pi / 180.0)
-  lat = ratio*geodetic[:,0]
-  lon = ratio*geodetic[:,1]
-  alt = geodetic[:,2]
+  lat = ratio*geodetic[:, 0]
+  lon = ratio*geodetic[:, 1]
+  alt = geodetic[:, 2]
 
   xi = np.sqrt(1 - esq * np.sin(lat)**2)
   x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
@@ -52,7 +52,7 @@ def ecef2geodetic(ecef, radians=False):
   S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
   P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
   Q = np.sqrt(1 + 2 * esq * esq * P)
-  r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
         P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
   U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
   V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
@@ -78,6 +78,8 @@ class LocalCoord():
                                      [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
                                      [np.cos(lat), 0, -np.sin(lat)]])
     self.ecef2ned_matrix = self.ned2ecef_matrix.T
+    self.ecef_from_ned_matrix = self.ned2ecef_matrix
+    self.ned_from_ecef_matrix = self.ecef2ned_matrix
 
   @classmethod
   def from_geodetic(cls, init_geodetic):

common/transformations/model.py

@@ -44,24 +44,15 @@ medmodel_intrinsics = np.array(
 
 # BIG model
 
-BIGMODEL_INPUT_SIZE = (864, 288)
+BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
 
 bigmodel_zoom = 1.
 bigmodel_intrinsics = np.array(
   [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  0.2 * BIGMODEL_INPUT_SIZE[1]],
+   [   0. ,  eon_focal_length / bigmodel_zoom,  256+MEDMODEL_CY],
    [   0. ,                            0. ,   1.]])
 
-
-bigmodel_border = np.array([
-    [0,0,1],
-    [BIGMODEL_INPUT_SIZE[0], 0, 1],
-    [BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
-    [0, BIGMODEL_INPUT_SIZE[1], 1],
-])
-
-
 model_frame_from_road_frame = np.dot(model_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 
@@ -72,6 +63,7 @@ medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 
 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 
 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
@@ -138,9 +130,9 @@ def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
 
 def get_model_frame(snu_full, camera_frame_from_model_frame, size):
   idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0],1)).T.flatten(),
+                                                            np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
                                                             np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:,1], idxs[:,0]]
+  calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
   if len(snu_full.shape) == 3:
     calib = calib_flat.reshape((size[1], size[0], 3))
   elif len(snu_full.shape) == 2:

common/transformations/orientation.py

@@ -13,11 +13,11 @@ Supports both x2y and y_from_x format (y_from_x preferred!).
 def euler2quat(eulers):
   eulers = array(eulers)
   if len(eulers.shape) > 1:
-    output_shape = (-1,4)
+    output_shape = (-1, 4)
   else:
     output_shape = (4,)
   eulers = np.atleast_2d(eulers)
-  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
+  gamma, theta, psi = eulers[:, 0],  eulers[:, 1],  eulers[:, 2]
 
   q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
        np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
@@ -30,7 +30,7 @@ def euler2quat(eulers):
 
   quats = array([q0, q1, q2, q3]).T
   for i in range(len(quats)):
-    if quats[i,0] < 0:
+    if quats[i, 0] < 0:
       quats[i] = -quats[i]
   return quats.reshape(output_shape)
 
@@ -38,11 +38,11 @@ def euler2quat(eulers):
 def quat2euler(quats):
   quats = array(quats)
   if len(quats.shape) > 1:
-    output_shape = (-1,3)
+    output_shape = (-1, 3)
   else:
     output_shape = (3,)
   quats = np.atleast_2d(quats)
-  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
+  q0, q1, q2, q3 = quats[:, 0], quats[:, 1], quats[:, 2], quats[:, 3]
 
   gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
   theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
@@ -101,7 +101,7 @@ def rot2quat(rots):
   q = np.empty((len(rots), 4))
   for i in range(len(rots)):
     _, eigvecs = linalg.eigh(K3[i].T)
-    eigvecs = eigvecs[:,3:]
+    eigvecs = eigvecs[:, 3:]
     q[i, 0] = eigvecs[-1]
     q[i, 1:] = -eigvecs[:-1].flatten()
     if q[i, 0] < 0:
@@ -124,8 +124,8 @@ def rot2euler(rots):
 quats_from_rotations = rot2quat
 quat_from_rot = rot2quat
 rotations_from_quats = quat2rot
-rot_from_quat= quat2rot
-rot_from_quat= quat2rot
+rot_from_quat = quat2rot
+rot_from_quat = quat2rot
 euler_from_rot = rot2euler
 euler_from_quat = quat2euler
 rot_from_euler = euler2rot
@@ -154,9 +154,9 @@ def rot_matrix(roll, pitch, yaw):
   cr, sr = np.cos(roll), np.sin(roll)
   cp, sp = np.cos(pitch), np.sin(pitch)
   cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
-  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
-  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
+  rr = array([[1, 0, 0], [0, cr, -sr], [0, sr, cr]])
+  rp = array([[cp, 0, sp], [0, 1, 0], [-sp, 0, cp]])
+  ry = array([[cy, -sy, 0], [sy, cy, 0], [0, 0, 1]])
   return ry.dot(rp.dot(rr))
 
 

common/xattr.py

@@ -0,0 +1,45 @@
+import os
+from cffi import FFI
+
+# Workaround for the EON/termux build of Python having os.*xattr removed.
+ffi = FFI()
+ffi.cdef("""
+int setxattr(const char *path, const char *name, const void *value, size_t size, int flags);
+ssize_t getxattr(const char *path, const char *name, void *value, size_t size);
+ssize_t listxattr(const char *path, char *list, size_t size);
+int removexattr(const char *path, const char *name);
+""")
+libc = ffi.dlopen(None)
+
+def setxattr(path, name, value, flags=0):
+  path = path.encode()
+  name = name.encode()
+  if libc.setxattr(path, name, value, len(value), flags) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})")
+
+def getxattr(path, name, size=128):
+  path = path.encode()
+  name = name.encode()
+  value = ffi.new(f"char[{size}]")
+  l = libc.getxattr(path, name, value, size)
+  if l == -1:
+    # errno 61 means attribute hasn't been set
+    if ffi.errno == 61:
+      return None
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
+  return ffi.buffer(value)[:l]
+
+def listxattr(path, size=128):
+  path = path.encode()
+  attrs = ffi.new(f"char[{size}]")
+  l = libc.listxattr(path, attrs, size)
+  if l == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})")
+  # attrs is b'\0' delimited values (so chop off trailing empty item)
+  return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
+
+def removexattr(path, name):
+  path = path.encode()
+  name = name.encode()
+  if libc.removexattr(path, name) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})")

installer/updater/update.json

@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e.zip",
-  "ota_hash": "07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6.img",
-  "recovery_len": 15848748,
-  "recovery_hash": "3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
+  "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
+  "recovery_len": 15861036,
+  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
 }

installer/updater/update_kernel.json

@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a-kernel.zip",
+  "ota_hash": "3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
+  "recovery_len": 15861036,
+  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
+}

installer/updater/updater.cc

@@ -155,8 +155,6 @@ struct Updater {
   TouchState touch;
 
   int fb_w, fb_h;
-  EGLDisplay display;
-  EGLSurface surface;
 
   FramebufferState *fb = NULL;
   NVGcontext *vg = NULL;
@@ -198,7 +196,7 @@ struct Updater {
     touch_init(&touch);
 
     fb = framebuffer_init("updater", 0x00001000, false,
-                          &display, &surface, &fb_w, &fb_h);
+                          &fb_w, &fb_h);
     assert(fb);
 
     vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
@@ -708,7 +706,7 @@ struct Updater {
 
       glDisable(GL_BLEND);
 
-      eglSwapBuffers(display, surface);
+      framebuffer_swap(fb);
 
       assert(glGetError() == GL_NO_ERROR);
 

launch_chffrplus.sh

@@ -6,20 +6,53 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
+if [ -z "$BASEDIR" ]; then
+  BASEDIR="/data/openpilot"
+fi
+
 if [ -z "$PASSIVE" ]; then
   export PASSIVE="1"
 fi
 
+STAGING_ROOT="/data/safe_staging"
+
 function launch {
   # Wifi scan
   wpa_cli IFNAME=wlan0 SCAN
 
-  # apply update
-  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-    git reset --hard @{u} &&
-    git clean -xdf &&
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The BASEDIR init file has to exist, with a newer modtime than anything in
+  #    the BASEDIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
 
-    exec "${BASH_SOURCE[0]}"
+  if [ -f "${BASEDIR}/.overlay_init" ]; then
+    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${BASEDIR} has been modified, skipping overlay update installation"
+    else
+      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
+        if [ ! -d /data/safe_staging/old_openpilot ]; then
+          echo "Valid overlay update found, installing"
+          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
+
+          mv $BASEDIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $BASEDIR
+
+          # The mv changed our working directory to /data/safe_staging/old_openpilot
+          cd "${BASEDIR}"
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          exec "${LAUNCHER_LOCATION}"
+        else
+          echo "openpilot backup found, not updating"
+          # TODO: restore backup? This means the updater didn't start after swapping
+        fi
+      fi
+    fi
   fi
 
   # no cpu rationing for now
@@ -29,21 +62,31 @@ function launch {
   echo 0-3 > /dev/cpuset/foreground/cpus
   echo 0-3 > /dev/cpuset/android/cpus
 
+  # change interrupt affinity
+  echo 3 > /proc/irq/6/smp_affinity_list # MDSS
+  echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
+  echo 2 > /proc/irq/733/smp_affinity_list # USB
+  echo 2 > /proc/irq/736/smp_affinity_list # USB
+
   DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
   # Remove old NEOS update file
+  # TODO: move this code to the updater
   if [ -d /data/neoupdate ]; then
     rm -rf /data/neoupdate
   fi
 
   # Check for NEOS update
-  if [ $(< /VERSION) != "13" ]; then
+  if [ $(< /VERSION) != "14" ]; then
     if [ -f "$DIR/scripts/continue.sh" ]; then
       cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
     fi
 
-    git clean -xdf
     "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+  else
+      if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
+          "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
+      fi
   fi
 
 

lgtm.yml

@@ -0,0 +1,17 @@
+path_classifiers:
+  library:
+    - external
+    - phonelibs
+    - pyextra
+    - tools/lib/mkvparse
+extraction:
+  cpp:
+    after_prepare:
+      - "pip3 install jinja2 pyyaml cython pycapnp numpy sympy tqdm cffi logentries zmq"
+      - "export PATH=$PWD/external/bin:$PATH"
+    index:
+      build_command: "python3 $(which scons)"
+  javascript:
+    index:
+      filters:
+      - exclude: "*"

opendbc/.github/workflows/tests.yml

@@ -0,0 +1,27 @@
+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-16.04
+
+    steps:
+      - uses: actions/checkout@v2
+      - run: |
+          set -e
+          docker build -t opendbc .
+        name: "Build"
+      - name: Static analysis
+        run: |
+          docker run opendbc bash -c "cd opendbc && git init && git add -A && pre-commit run --all"
+      - run: |
+          docker run opendbc bash -c "python -m unittest discover opendbc"
+        name: "Unit tests"
+      - run: |
+          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
+          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
+        name: "Python linter"
+      - run: |
+          docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
+        name: "Generator test"

opendbc/.gitignore

@@ -1,7 +1,11 @@
+.mypy_cache/
 *.pyc
 *.os
 *.tmp
+*.dylib
 .*.swp
+.DS_Store
+
 can/*.so
 can/build/
 can/obj/

opendbc/.pre-commit-config.yaml

@@ -0,0 +1,27 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+-   repo: https://github.com/PyCQA/flake8
+    rev: master
+    hooks:
+    -   id: flake8
+        args:
+        - --select=F
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        args:
+        - --disable=R,C,W

opendbc/Dockerfile

@@ -1,6 +1,6 @@
 from ubuntu:16.04
 
-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
 
 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
@@ -10,16 +10,16 @@ RUN pyenv rehash
 
 COPY requirements.txt /tmp/
 RUN pip install -r /tmp/requirements.txt
+RUN pip install pre-commit==2.4.0 pylint==2.5.2
 
 ENV PYTHONPATH=/project
 
+WORKDIR /project
 # TODO: Add tag to cereal
 RUN git clone https://github.com/commaai/cereal.git /project/cereal
-RUN /project/cereal/install_capnp.sh
-
-WORKDIR /project
 
 COPY SConstruct .
 COPY . /project/opendbc
 
+RUN rm -rf /project/opendbc/.git
 RUN scons -c && scons -j$(nproc)

opendbc/README.md

@@ -16,6 +16,9 @@ Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/ind
 
 Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
 
+### How to use reverse engineered DBC
+To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project.
+
 ### DBC file preprocessor
 
 DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.

opendbc/acura_ilx_2016_can_generated.dbc

@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -274,9 +281,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 

opendbc/acura_rdx_2018_can_generated.dbc

@@ -86,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -262,7 +269,7 @@ BO_ 392 GEARBOX: 6 XXX
 
 BO_ 399 STEER_STATUS: 6 EPS
  SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON

opendbc/azure-pipelines.yml

@@ -1,16 +0,0 @@
-pr: none
-
-pool:
-  vmImage: 'ubuntu-16.04'
-steps:
-- script: |
-    set -e
-    docker build -t opendbc .
-  displayName: 'Build'
-- script: |
-    docker run opendbc bash -c "python -m unittest discover opendbc"
-  displayName: 'Unit tests'
-- script: |
-    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
-    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
-  displayName: 'Python linter'

opendbc/bmw_e9x_e8x.dbc

@@ -0,0 +1,291 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX EON Vector__XXX
+
+
+BO_ 170 AccPedal: 8 XXX
+ SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX
+ SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
+ SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
+ SG_ Counter1 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ EngineSpeed : 32|16@1- (1,0) [0|65535] "" XXX
+ SG_ uknown : 7|8@0- (1,0) [0|65535] "" XXX
+
+BO_ 404 CruiseControl: 4 XXX
+ SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ Counter1 : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ Counter2 : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ notCancel_0xF : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 512 CruiseControlStatus: 8 XXX
+ SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX
+
+BO_ 168 EngineAndBrake: 8 XXX
+ SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ EngineTorque : 8|16@1- (1,0) [0|65535] "" XXX
+ SG_ EngineTorqueWoInterv : 24|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 470 SteeringButtons: 2 XXX
+ SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 403 DynamicCruiseControlStatus: 8 XXX
+ SG_ Counter : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "mph" XXX
+
+BO_ 201 SteeringWheelAngle_DSC: 8 XXX
+ SG_ Counter1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ WeirdCounter : 44|4@1+ (1,0) [0|3] "" XXX
+ SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "deg" XXX
+
+BO_ 206 WheelSpeeds: 8 XXX
+ SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
+
+BO_ 884 WheelToleranceAdjustment: 8 XXX
+
+BO_ 678 WiperSwitch: 8 XXX
+ SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 304 TerminalStatus: 8 XXX
+ SG_ AccOn : 23|1@0+ (1,0) [0|255] "" XXX
+ SG_ IgnitionOff : 22|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 169 Torque2: 8 XXX
+
+BO_ 184 TorqueTransmisionRequest: 8 XXX
+
+BO_ 196 SteeringWheelAngle: 7 XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [0|255] "degree/s" XXX
+
+BO_ 180 WheelTorqueDriveTrain1: 8 XXX
+
+BO_ 182 DynamicCruiseControlTorqueDemand: 8 XXX
+
+BO_ 186 TransmissionData: 8 XXX
+
+BO_ 191 RequestedWheelTorqueDriveTrainActiveCruiseControl: 8 XXX
+ SG_ Counter : 11|4@0- (1,0) [0|255] "" XXX
+ SG_ TorqueReq : 16|11@1+ (1,0) [0|65535] "" XXX
+
+BO_ 414 Status_DSC: 8 XXX
+
+BO_ 416 Speed: 8 XXX
+ SG_ VehicleSpeed : 0|12@1+ (0.103,0) [0|255] "kph" XXX
+
+BO_ 418 TransimissionData2: 8 XXX
+
+BO_ 690 WheelPressure: 8 XXX
+
+BO_ 691 AccelerationData: 8 XXX
+
+BO_ 408 GearSelectorSwitch: 8 XXX
+ SG_ Gear : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 422 Distance: 8 XXX
+
+BO_ 436 InstrumentClusterStatus_KOMBI: 8 XXX
+
+BO_ 464 EngineData: 8 XXX
+
+BO_ 945 TransmissionData3: 8 XXX
+
+BO_ 200 SteeringWheelAngle_slow: 8 XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [-65535|65535] "degree/s" XXX
+
+BO_ 466 TransmissionDataDisplay: 8 XXX
+
+BO_ 437 HeatFlow_LoadMomentClimate: 8 XXX
+
+BO_ 1152 NetworkManagment1: 8 XXX
+
+BO_ 1170 NetworkManagment2: 8 XXX
+
+BO_ 1175 NetworkManagment3: 8 XXX
+
+BO_ 1176 NetworkManagment4: 8 XXX
+
+BO_ 1193 NetworkManagment5: 8 XXX
+
+BO_ 1246 NetworkManagment6: 8 XXX
+
+BO_ 438 HeatFlowEngine: 8 XXX
+
+BO_ 784 AmbientTemperature: 8 XXX
+
+BO_ 821 ElectricFuelPumpStatus: 8 XXX
+
+BO_ 1007 EngineOBD_data: 8 XXX
+
+BO_ 1432 ServicesDKG: 8 XXX
+
+BO_ 309 CrashDisconnectControl: 8 XXX
+
+BO_ 502 TurnSignals: 2 XXX
+ SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 514 Dimming: 8 XXX
+
+BO_ 538 LampsCondition: 8 XXX
+
+BO_ 550 RainSensorWiperSpeed: 8 XXX
+
+BO_ 578 ClimateFrontStatus: 8 XXX
+
+BO_ 704 LCD_lighting: 8 XXX
+
+BO_ 758 LightControl: 8 XXX
+
+BO_ 760 Time_Date: 8 XXX
+
+BO_ 762 SeatBeltContact: 8 XXX
+
+BO_ 764 TrunkStatus: 8 XXX
+
+BO_ 797 TirePressureStatus: 8 XXX
+
+BO_ 816 Range_Mileage: 8 XXX
+
+BO_ 823 StatusFuelControl: 8 XXX
+
+BO_ 897 EngineOilLevelStatus: 8 XXX
+
+BO_ 940 Terminal30Eerror: 8 XXX
+
+BO_ 947 PowerManagmentConsumptionControl: 8 XXX
+
+BO_ 948 PowerBatteryVoltage: 8 XXX
+ SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX
+
+BO_ 958 PowerRunningTime: 8 XXX
+
+BO_ 1408 ServicesKGM: 8 XXX
+
+BO_ 1426 ServicesDME: 8 XXX
+
+BO_ 1449 ServicesDSC: 8 XXX
+
+BO_ 1504 ServicesKOMBI: 8 XXX
+
+BO_ 1522 ServicesKBM: 8 XXX
+
+BO_ 209 Accelerometer: 8 XXX
+ SG_ LateralAcceleration : 0|16@1- (1,0) [0|7] "" XXX
+ SG_ LongitudalAcceleration : 32|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 172 WheelTorqueDrivetrain2: 8 XXX
+
+BO_ 128 Unknown80: 5 XXX
+ SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ State1 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 31|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 320 Unknown140: 2 XXX
+ SG_ State : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 212 Unknown_d4: 8 XXX
+ SG_ State1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter2 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 205 Unknown_cd: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0- (1,0) [0|255] "" XXX
+
+BO_ 1577 NEW_MSG_1: 8 XXX
+
+
+
+
+CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control drives";
+CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
+CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
+CM_ SG_ 170 EngineSpeed "It's hard to say that is even a rate";
+CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
+CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
+CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
+CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed";
+CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed";
+CM_ SG_ 404 Counter1 "It accelerates when requests are being sent";
+CM_ SG_ 404 Counter2 "It accelerates when requests are being sent";
+CM_ SG_ 404 notCancel_0xF "0xF unless cancel is requested then 0x0";
+CM_ SG_ 168 Brake_active2 "";
+CM_ SG_ 168 BrakePressed "Brake when driver presses the brake";
+CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque";
+CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention";
+CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target";
+CM_ SG_ 408 Gear "This is just provision, needs to be reverse engineered";
+CM_ SG_ 502 TurnSignalIdle "Turn signal off";
+CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning";
+CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker";
+CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker";
+CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk";
+VAL_ 408 Gear 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ;

opendbc/can/can_define.py

@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANDefine # pylint: disable=no-name-in-module, import-error
+from opendbc.can.parser_pyx import CANDefine  # pylint: disable=no-name-in-module, import-error
 assert CANDefine

opendbc/can/common.cc

@@ -18,12 +18,55 @@ unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
   d >>= 8; // remove checksum
 
   unsigned int s = l;
-  while (address) { s += address & 0xff; address >>= 8; }
-  while (d) { s += d & 0xff; d >>= 8; }
+  while (address) { s += address & 0xFF; address >>= 8; }
+  while (d) { s += d & 0xFF; d >>= 8; }
 
   return s & 0xFF;
 }
 
+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l) {
+  d >>= ((8-l)*8); // remove padding
+
+  unsigned int s = 0;
+  while (address) { s += address & 0xFF; address >>= 8; }
+  l -= 1; // checksum is first byte
+  while (l) { s += d & 0xFF; d >>= 8; l -= 1; }
+
+  return s & 0xFF;
+}
+
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
+  /* This function does not want the checksum byte in the input data.
+  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  uint8_t checksum = 0xFF;
+  for (int j = 0; j < (l - 1); j++) {
+    uint8_t shift = 0x80;
+    uint8_t curr = (d >> 8*j) & 0xFF;
+    for (int i=0; i<8; i++) {
+      uint8_t bit_sum = curr & shift;
+      uint8_t temp_chk = checksum & 0x80U;
+      if (bit_sum != 0U) {
+        bit_sum = 0x1C;
+        if (temp_chk != 0U) {
+          bit_sum = 1;
+        }
+        checksum = checksum << 1;
+        temp_chk = checksum | 1U;
+        bit_sum ^= temp_chk;
+      } else {
+        if (temp_chk != 0U) {
+          bit_sum = 0x1D;
+        }
+        checksum = checksum << 1;
+        bit_sum ^= checksum;
+      }
+      checksum = bit_sum;
+      shift = shift >> 1;
+    }
+  }
+  return ~checksum & 0xFF;
+}
+
 // Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
 uint8_t crc8_lut_8h2f[256];
 
@@ -85,6 +128,12 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x117: // ACC_10 Automatic Cruise Control
       crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
       break;
+    case 0x120: // TSK_06 Drivetrain Coordinator
+      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      break;
+    case 0x121: // Motor_20 Driver Throttle Inputs
+      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      break;
     case 0x122: // ACC_06 Automatic Cruise Control
       crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
       break;
@@ -100,6 +149,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x30C: // ACC_02 Automatic Cruise Control
       crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
       break;
+    case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
+      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
+      break;
     case 0x3C0: // Klemmen_Status_01 ignition and starting status
       crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
       break;

opendbc/can/common.h

@@ -13,6 +13,8 @@
 // Helper functions
 unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
 unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l);
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
 void init_crc_lookup_tables();
 unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
 unsigned int pedal_checksum(uint64_t d, int l);

opendbc/can/common.pxd

@@ -18,7 +18,9 @@ cdef extern from "common_dbc.h":
     PEDAL_CHECKSUM,
     PEDAL_COUNTER,
     VOLKSWAGEN_CHECKSUM,
-    VOLKSWAGEN_COUNTER
+    VOLKSWAGEN_COUNTER,
+    SUBARU_CHECKSUM,
+    CHRYSLER_CHECKSUM
 
   cdef struct Signal:
     const char* name

opendbc/can/common_dbc.h

@@ -38,6 +38,8 @@ enum SignalType {
   PEDAL_COUNTER,
   VOLKSWAGEN_CHECKSUM,
   VOLKSWAGEN_COUNTER,
+  SUBARU_CHECKSUM,
+  CHRYSLER_CHECKSUM,
 };
 
 struct Signal {

opendbc/can/dbc.py

@@ -55,7 +55,7 @@ class dbc():
 
         name = dat.group(2)
         size = int(dat.group(3))
-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
         if ids in self.msgs:
           sys.exit("Duplicate address detected %d %s" % (ids, self.name))
 
@@ -73,15 +73,15 @@ class dbc():
           print("bad SG {0}".format(l))
 
         sgname = dat.group(1)
-        start_bit = int(dat.group(go+2))
-        signal_size = int(dat.group(go+3))
-        is_little_endian = int(dat.group(go+4))==1
-        is_signed = dat.group(go+5)=='-'
-        factor = int_or_float(dat.group(go+6))
-        offset = int_or_float(dat.group(go+7))
-        tmin = int_or_float(dat.group(go+8))
-        tmax = int_or_float(dat.group(go+9))
-        units = dat.group(go+10)
+        start_bit = int(dat.group(go + 2))
+        signal_size = int(dat.group(go + 3))
+        is_little_endian = int(dat.group(go + 4)) == 1
+        is_signed = dat.group(go + 5) == '-'
+        factor = int_or_float(dat.group(go + 6))
+        offset = int_or_float(dat.group(go + 7))
+        tmin = int_or_float(dat.group(go + 8))
+        tmax = int_or_float(dat.group(go + 9))
+        units = dat.group(go + 10)
 
         self.msgs[ids][1].append(
           DBCSignal(sgname, start_bit, signal_size, is_little_endian,
@@ -94,15 +94,15 @@ class dbc():
         if dat is None:
           print("bad VAL {0}".format(l))
 
-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
         sgname = dat.group(2)
         defvals = dat.group(3)
 
-        defvals = defvals.replace("?",r"\?") #escape sequence in C++
+        defvals = defvals.replace("?", r"\?")  # escape sequence in C++
         defvals = defvals.split('"')[:-1]
 
         # convert strings to UPPER_CASE_WITH_UNDERSCORES
-        defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
+        defvals[1::2] = [d.strip().upper().replace(" ", "_") for d in defvals[1::2]]
         defvals = '"'+"".join(str(i) for i in defvals)+'"'
 
         self.def_vals[ids].append((sgname, defvals))

opendbc/can/dbc_template.cc

@@ -29,6 +29,10 @@ const Signal sigs_{{address}}[] = {
       .type = SignalType::VOLKSWAGEN_CHECKSUM,
       {% elif checksum_type == "volkswagen" and sig.name == "COUNTER" %}
       .type = SignalType::VOLKSWAGEN_COUNTER,
+      {% elif checksum_type == "subaru" and sig.name == "CHECKSUM" %}
+      .type = SignalType::SUBARU_CHECKSUM,
+      {% elif checksum_type == "chrysler" and sig.name == "CHECKSUM" %}
+      .type = SignalType::CHRYSLER_CHECKSUM,
       {% elif address in [512, 513] and sig.name == "CHECKSUM_PEDAL" %}
       .type = SignalType::PEDAL_CHECKSUM,
       {% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %}

opendbc/can/packer.cc

@@ -99,6 +99,12 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
       // The correct fix is unclear but this works for the moment.
       unsigned int chksm = volkswagen_crc(address, ReverseBytes(ret), message_lookup[address].size);
       ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      unsigned int chksm = subaru_checksum(address, ret, message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
     } else {
       //WARN("CHECKSUM signal type not valid\n");
     }

opendbc/can/packer_pyx_setup.py

@@ -1,6 +1,7 @@
 import os
 import sysconfig
 import subprocess
+import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
 
 from Cython.Build import cythonize
@@ -32,12 +33,16 @@ class BuildExtWithoutPlatformSuffix(build_ext):
 
 
 sourcefiles = ['packer_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 
 if ARCH == "aarch64":
   extra_compile_args += ["-Wno-deprecated-register"]
 
+if platform.system() == "Darwin":
+  libdbc = "libdbc.dylib"
+else:
+  libdbc = "libdbc.so"
 
 setup(name='CAN packer',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
@@ -49,12 +54,15 @@ setup(name='CAN packer',
           extra_compile_args=extra_compile_args,
           include_dirs=[
             BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+            os.path.join(BASEDIR, 'phonelibs'),
           ],
           extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
+            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
           ],
         )
       ),
       nthreads=4,
 )
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")

opendbc/can/parser.cc

@@ -57,6 +57,16 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
         if (!update_counter_generic(tmp, sig.b2)) {
         return false;
       }
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      if (subaru_checksum(address, dat_be, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      if (chrysler_checksum(address, dat_le, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
     } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
       if (pedal_checksum(dat_be, size) != tmp) {
         INFO("0x%X PEDAL CHECKSUM FAIL\n", address);

opendbc/can/parser_pyx_setup.py

@@ -1,6 +1,7 @@
 import os
 import subprocess
 import sysconfig
+import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
 
 from Cython.Build import cythonize
@@ -32,12 +33,17 @@ class BuildExtWithoutPlatformSuffix(build_ext):
 
 
 sourcefiles = ['parser_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 
 if ARCH == "aarch64":
   extra_compile_args += ["-Wno-deprecated-register"]
 
+if platform.system() == "Darwin":
+  libdbc = "libdbc.dylib"
+else:
+  libdbc = "libdbc.so"
+
 setup(name='CAN parser',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
       ext_modules=cythonize(
@@ -48,12 +54,15 @@ setup(name='CAN parser',
           extra_compile_args=extra_compile_args,
           include_dirs=[
             BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+            os.path.join(BASEDIR, 'phonelibs'),
           ],
           extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
+            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
           ],
         )
       ),
       nthreads=4,
 )
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")

opendbc/can/process_dbc.py

@@ -19,10 +19,11 @@ def process(in_fn, out_fn):
 
   can_dbc = dbc(in_fn)
 
-  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
+  # process counter and checksums first
+  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM")))
           for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
 
-  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
+  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()}  # remove duplicates
   def_vals = sorted(def_vals.items())
 
   if can_dbc.name.startswith(("honda_", "acura_")):
@@ -46,6 +47,20 @@ def process(in_fn, out_fn):
     checksum_start_bit = 0
     counter_start_bit = 0
     little_endian = True
+  elif can_dbc.name.startswith(("subaru_global_")):
+    checksum_type = "subaru"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 0
+    counter_start_bit = None
+    little_endian = True
+  elif can_dbc.name.startswith(("chrysler_")):
+    checksum_type = "chrysler"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 7
+    counter_start_bit = None
+    little_endian = False
   else:
     checksum_type = None
     checksum_size = None
@@ -109,4 +124,3 @@ def main():
 
 if __name__ == '__main__':
   main()
-

opendbc/can/tests/test_generator.sh

@@ -0,0 +1,13 @@
+#!/bin/bash -e
+
+cd ../../generator/
+
+# run generator
+./generator.py
+
+if [ -n "$(git status --untracked-files=no --porcelain)" ]; then
+  echo "Unexpected changes after running generator.py";
+  exit 1
+else
+  echo "Success";
+fi

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -43,7 +43,7 @@ BO_ 258 STEERING: 8 XXX
  SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
  SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
 
-BO_ 514 SPEED_1: 4 XXX
+BO_ 514 SPEED_1: 8 XXX
  SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
  SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX
 
@@ -429,5 +429,5 @@ CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
-VAL_ 746 PRNDL 5 "Low" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
+VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

opendbc/generator/honda/_bosch_2018.dbc

@@ -47,6 +47,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
 
+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
  SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -54,17 +62,12 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
  SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -92,9 +95,10 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
@@ -106,6 +110,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
@@ -157,6 +168,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -281,5 +368,9 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

opendbc/generator/honda/_dual_can_nidec_2018.dbc

@@ -56,6 +56,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -63,6 +64,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -93,12 +101,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
  SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
  SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
  SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
  SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -138,7 +149,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -148,10 +159,12 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
@@ -201,6 +214,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -210,6 +224,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

opendbc/generator/honda/_honda_2017.dbc

@@ -64,6 +64,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -142,7 +149,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -152,10 +159,12 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 

opendbc/generator/honda/acura_ilx_2016_can.dbc

@@ -27,9 +27,10 @@ BO_ 342 STEERING_SENSORS: 6 EPS
 
 BO_ 399 STEER_STATUS: 7 EPS
  SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 

opendbc/generator/honda/acura_rdx_2018_can.dbc

@@ -15,7 +15,7 @@ BO_ 392 GEARBOX: 6 XXX
 
 BO_ 399 STEER_STATUS: 6 EPS
  SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
  SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
  SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/generator/honda/honda_accord_s2t_2018_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON