Merge pull request #16 from dragonpilot-community/devel

dp 0.7.3.2

selfdrive/car/car_helpers.py

@@ -8,6 +8,9 @@ from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 import pickle
+import requests
+import threading
+import selfdrive.crash as crash
 
 from cereal import car
 
@@ -207,14 +210,39 @@ def fingerprint(logcan, sendcan, has_relay):
   cloudlog.warning("fingerprinted %s", car_fingerprint)
   return car_fingerprint, finger, vin, car_fw, source
 
+def is_online(timeout=5):
+  try:
+    requests.get("https://sentry.io", timeout=timeout)
+    return True
+  except:
+    return False
+
+def log_fingerprinted(candidate):
+  while True:
+    crash.capture_warning("fingerprinted %s" % candidate)
+    break
+
+def log_unmatched_fingerprint(fingerprints, fw):
+  while True:
+    crash.capture_warning("car doesn't match any fingerprints: %s" % fingerprints)
+    crash.capture_warning("car doesn't match any fw: %s" % fw)
+    break
 
 def get_car(logcan, sendcan, has_relay=False):
   candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan, has_relay)
 
   if candidate is None:
+    if is_online():
+      y = threading.Thread(target=log_unmatched_fingerprint, args=(fingerprints,car_fw,))
+      y.start()
+
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
     candidate = "mock"
 
+  if is_online():
+    x = threading.Thread(target=log_fingerprinted, args=(candidate,))
+    x.start()
+
   CarInterface, CarController = interfaces[candidate]
   car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
   car_params.carVin = vin

selfdrive/car/honda/carcontroller.py

@@ -167,15 +167,21 @@ class CarController():
     can_sends = []
 
     # dragonpilot
-    if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
-      self.turning_signal_timer = 100
+    if enabled:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
 
-    if self.turning_signal_timer > 0:
-      self.turning_signal_timer -= 1
-      lkas_active = False
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          lkas_active = False
+      else:
+        self.turning_signal_timer = 0
 
-    if not self.dragon_lat_ctrl:
-      lkas_active = False
+      if not self.dragon_lat_ctrl:
+        lkas_active = False
 
     # Send steering command.
     idx = frame % 4

selfdrive/car/hyundai/carcontroller.py

@@ -43,15 +43,21 @@ class CarController():
     can_sends = []
 
     # dragonpilot
-    if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
-      self.turning_signal_timer = 100
+    if enabled:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
 
-    if self.turning_signal_timer > 0:
-      self.turning_signal_timer -= 1
-      steer_req = 0
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          steer_req = 0
+      else:
+        self.turning_signal_timer = 0
 
-    if not self.dragon_lat_ctrl:
-      steer_req = 0
+      if not self.dragon_lat_ctrl:
+        steer_req = 0
 
     self.lkas11_cnt = self.cnt % 0x10
     self.clu11_cnt = self.cnt % 0x10

selfdrive/car/toyota/carcontroller.py

@@ -191,26 +191,32 @@ class CarController():
     can_sends = []
 
     # dragonpilot
-    if enabled and (CS.left_blinker_on or CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
-      self.turning_signal_timer = 100
+    if enabled:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
+  
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          apply_steer_req = 0
+      else:
+        self.turning_signal_timer = 0
+  
+      if not self.dragon_lat_ctrl:
+        apply_steer_req = 0
+    else:
+      if CS.v_ego > 12.5:
+        if right_lane_depart and not CS.right_blinker_on:
+          apply_steer = self.last_steer + 3
+          apply_steer = min(apply_steer , 800)
+          apply_steer_req = 1
 
-    if self.turning_signal_timer > 0:
-      self.turning_signal_timer -= 1
-      apply_steer_req = 0
-
-    if not self.dragon_lat_ctrl:
-      apply_steer_req = 0
-
-    if CS.v_ego > 12.5 and not enabled:
-      if right_lane_depart and not CS.right_blinker_on:
-        apply_steer = self.last_steer + 3
-        apply_steer = min(apply_steer , 800)
-        apply_steer_req = 1
-
-      if left_lane_depart and not CS.left_blinker_on:
-        apply_steer = self.last_steer - 3
-        apply_steer = max(apply_steer , -800)
-        apply_steer_req = 1
+        if left_lane_depart and not CS.left_blinker_on:
+          apply_steer = self.last_steer - 3
+          apply_steer = max(apply_steer , -800)
+          apply_steer_req = 1
 
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)

selfdrive/car/toyota/values.py

@@ -168,9 +168,13 @@ FINGERPRINTS = {
   {
     36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
+  # China 2018 Camry from superdongle
+  {
+    36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
   {
   # 2019 XSE
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 800: 8, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   }],
   CAR.CAMRYH: [
   #SE, LE and LE with Blindspot Monitor
@@ -219,6 +223,10 @@ FINGERPRINTS = {
   {
     36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 913: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8
   },
+  # China 2020 RAV4 from superdongle
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1112: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1263: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8      
+  },
   # LE
   {
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8

selfdrive/crash.py

@@ -1,10 +1,11 @@
 """Install exception handler for process crash."""
 import os
 import sys
-import json
-#from subprocess import check_output
 import threading
-from selfdrive.version import version, dirty
+import capnp
+from common.params import Params
+from selfdrive.version import version, dirty, origin, branch
+uniqueID = Params().get('DongleId', None)
 
 from selfdrive.swaglog import cloudlog
 
@@ -20,47 +21,33 @@ if os.getenv("NOLOG") or os.getenv("NOCRASH"):
 else:
   from raven import Client
   from raven.transport.http import HTTPTransport
-
-  error_tags = {'dirty': dirty, 'username': 'char_error'}
-
+  params = Params()
   try:
-    with open("/data/data/ai.comma.plus.offroad/files/persistStore/persist-auth", "r") as f:
-      auth = json.loads(f.read())
-    auth = json.loads(auth['commaUser'])
-    tags = ['username', 'email']
-    for tag in tags:
-      try:
-        error_tags[tag] = ''.join(char for char in auth[tag].decode('utf-8', 'ignore') if char.isalnum())
-      except:
-        pass
-  except:
-    pass
-
-  logging_data = {"branch": "/data/params/d/GitBranch", "commit": "/data/params/d/GitCommit", "remote": "/data/params/d/GitRemote"}
-
-  for key in logging_data:
-    try:
-      with open(logging_data[key], "r") as f:
-        error_tags[key] = str(f.read())
-    except:
-      error_tags[key] = "unknown"
+    dongle_id = params.get("DongleId").decode('utf8')
+  except AttributeError:
+    dongle_id = "None"
+  error_tags = {'dirty': dirty, 'username': uniqueID, 'dongle_id': dongle_id, 'branch': branch, 'remote': origin}
 
   client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
                   install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
 
-  def capture_warning(warning_string):
-    client.captureMessage(warning_string, level='warning')
-
-  def capture_info(info_string):
-    client.captureMessage(info_string, level='info')
-
   def capture_exception(*args, **kwargs):
-    client.captureException(*args, **kwargs)
+    exc_info = sys.exc_info()
+    if not exc_info[0] is capnp.lib.capnp.KjException:
+      client.captureException(*args, **kwargs)
     cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   def bind_user(**kwargs):
     client.user_context(kwargs)
 
+  def capture_warning(warning_string):
+    bind_user(id=dongle_id)
+    client.captureMessage(warning_string, level='warning')
+
+  def capture_info(info_string):
+    bind_user(id=dongle_id)
+    client.captureMessage(info_string, level='info')
+
   def bind_extra(**kwargs):
     client.extra_context(kwargs)
 

selfdrive/updated.py

@@ -366,7 +366,7 @@ def main(gctx=None):
 
   while True:
     # try network
-    ping_failed = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
+    ping_failed = subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
 
     if not ping_failed:
       # download application update