Merge branch 'devel-en' into devel-zht

cereal/car.capnp

@@ -87,6 +87,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     manualSteeringRequired @62;
     manualSteeringRequiredBlinkersOn @63;
     leadCarMoving @64;
+    leadCarDetected @65;
   }
 }
 

selfdrive/can/process_dbc.py

@@ -28,7 +28,7 @@ def main():
   msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
           for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
 
-  def_vals = {a: 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_")):

selfdrive/car/toyota/values.py

@@ -198,7 +198,12 @@ FINGERPRINTS = {
   # 2019 Taiwan Altis Hybrid
   {
     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, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 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, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 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, 1745: 8, 1775: 8, 1779: 8
-  }],
+  },
+  # 2019 Chinese Levin Hybrid
+  {
+    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, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 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, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
+  }
+  ],
   CAR.LEXUS_ES_TSS2: [
   {
     # 2019 Lexus ES200 from Shell

selfdrive/common/visionbuf_cl.c

@@ -0,0 +1,89 @@
+#include "visionbuf.h"
+
+#include <fcntl.h>
+#include <assert.h>
+#include <stdlib.h>
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+VisionBuf visionbuf_allocate(size_t len) {
+  // const size_t alignment = 4096;
+  // void* addr = aligned_alloc(alignment, alignment * ((len - 1) / alignment + 1));
+  void* addr = calloc(1, len);
+
+  return (VisionBuf){
+      .len = len, .addr = addr, .handle = 1, .fd = -1,
+  };
+}
+
+cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx) {
+  // HACK because this platform is just for convenience
+  VisionBuf *w_buf = (VisionBuf*)buf;
+  cl_mem ret;
+  *w_buf = visionbuf_allocate_cl(buf->len, device_id, ctx, &ret);
+  return ret;
+}
+
+VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem) {
+  int err;
+  assert(out_mem);
+
+#if __OPENCL_VERSION__ >= 200
+  void* host_ptr =
+      clSVMAlloc(ctx, CL_MEM_READ_WRITE | CL_MEM_SVM_FINE_GRAIN_BUFFER, len, 0);
+  assert(host_ptr);
+#else
+  void* host_ptr = calloc(1, len);
+
+  cl_command_queue q = clCreateCommandQueue(ctx, device_id, 0, &err);
+  assert(err == 0);
+#endif
+
+  cl_mem mem = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, len, host_ptr, &err);
+  assert(err == 0);
+
+  *out_mem = mem;
+
+  return (VisionBuf){
+      .len = len, .addr = host_ptr, .handle = 0, .fd = -1,
+      .device_id = device_id, .ctx = ctx, .buf_cl = mem,
+
+#if __OPENCL_VERSION__ < 200
+      .copy_q = q,
+#endif
+
+  };
+}
+
+void visionbuf_sync(const VisionBuf* buf, int dir) {
+  int err = 0;
+  if (!buf->buf_cl) return;
+
+#if __OPENCL_VERSION__ < 200
+  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
+    err = clEnqueueReadBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
+  } else {
+    err = clEnqueueWriteBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
+  }
+  assert(err == 0);
+  clFinish(buf->copy_q);
+#endif
+}
+
+void visionbuf_free(const VisionBuf* buf) {
+  if (buf->handle) {
+    free(buf->addr);
+  } else {
+    int err = clReleaseMemObject(buf->buf_cl);
+    assert(err == 0);
+#if __OPENCL_VERSION__ >= 200
+    clSVMFree(buf->ctx, buf->addr);
+#else
+    free(buf->addr);
+#endif
+  }
+}

selfdrive/controls/controlsd.py

@@ -575,8 +575,11 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
 
       # when we detect lead car over a sec and the lead car is started moving, we are ready to send alerts
       # once the condition is triggered, we want to keep the trigger
-      if dragon_stopped_has_lead_count >= 50 and abs(sm['plan'].vTargetFuture) >= 0.1:
-        events.append(create_event('leadCarMoving', [ET.WARNING]))
+      if dragon_stopped_has_lead_count >= 50:
+        if abs(sm['plan'].vTargetFuture) >= 0.1:
+          events.append(create_event('leadCarMoving', [ET.WARNING]))
+        else:
+          events.append(create_event('leadCarDetected', [ET.WARNING]))
 
       # we remove alert once our car is moving
       if CS.vEgo > 0.:

selfdrive/controls/lib/alerts.py

@@ -740,8 +740,14 @@ ALERTS = [
     Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
   Alert(
     "leadCarMoving",
-    "LEAD CAR IS MOVING",
-    "Resume Driving Manually",
-    AlertStatus.userPrompt, AlertSize.mid,
+    "Lead Car Is Moving",
+    "",
+    AlertStatus.userPrompt, AlertSize.small,
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
+  Alert(
+    "leadCarDetected",
+    "Lead Car Detected",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
 ]

selfdrive/dragonpilot/appd/appd.py

@@ -14,11 +14,11 @@ params = Params()
 tomtom = "com.tomtom.speedcams.android.map"
 tomtom_main = "com.tomtom.speedcams.android.activities.SpeedCamActivity"
 
-# v4.3.0.600100 Beta
+# v4.3.0.600310 R2098NSLAE
 autonavi = "com.autonavi.amapauto"
 autonavi_main = "com.autonavi.amapauto.MainMapActivity"
 
-# v6.39.2
+# v6.40.3
 mixplorer = "com.mixplorer"
 mixplorer_main = "com.mixplorer.activities.BrowseActivity"
 

selfdrive/manager.py

@@ -385,8 +385,8 @@ def manager_thread():
     running_list = ["   running %s %s" % (p, running[p]) for p in running]
     cloudlog.debug('\n'.join(running_list))
 
-    # is this still needed?
-    if params.get("DoUninstall") == "1":
+    # Exit main loop when uninstall is needed
+    if params.get("DoUninstall", encoding='utf8') == "1":
       break
 
 def get_installed_apks():
@@ -572,7 +572,7 @@ def main():
   finally:
     cleanup_all_processes(None, None)
 
-  if params.get("DoUninstall") == "1":
+  if params.get("DoUninstall", encoding='utf8') == "1":
     uninstall()
 
 if __name__ == "__main__":

selfdrive/thermald.py

@@ -217,11 +217,10 @@ def thermald_thread():
     max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
     bat_temp = msg.thermal.bat/1000.
 
-    if health is not None:
-      if health.health.hwType == log.HealthData.HwType.uno:
-        fan_speed = handle_fan_uno(max_cpu_temp, bat_temp, fan_speed)
-      else:
-        fan_speed = handle_fan_eon(max_cpu_temp, bat_temp, fan_speed)
+    if health is not None and health.health.hwType == log.HealthData.HwType.uno:
+      fan_speed = handle_fan_uno(max_cpu_temp, bat_temp, fan_speed)
+    else:
+      fan_speed = handle_fan_eon(max_cpu_temp, bat_temp, fan_speed)
 
     msg.thermal.fanSpeed = fan_speed
 

selfdrive/visiond/build_from_src.mk

@@ -54,9 +54,9 @@ else
 
   OPENCL_LIBS = -lOpenCL
 
-  TF_FLAGS = -I$(EXTERNAL)/tensorflow/include
-  TF_LIBS = -L$(EXTERNAL)/tensorflow/lib -ltensorflow \
-            -Wl,-rpath $(EXTERNAL)/tensorflow/lib
+  #TF_FLAGS = -I$(EXTERNAL)/tensorflow/include
+  #TF_LIBS = -L$(EXTERNAL)/tensorflow/lib -ltensorflow \
+  #          -Wl,-rpath $(EXTERNAL)/tensorflow/lib
 
   SNPE_FLAGS = -I$(PHONELIBS)/snpe/include/
   SNPE_LIBS = -L$(PHONELIBS)/snpe/x86_64-linux-clang/ \
@@ -69,7 +69,7 @@ else
   PLATFORM_OBJS = cameras/camera_frame_stream.o \
                   ../common/visionbuf_cl.o \
                   ../common/visionimg.o \
-                  runners/tfmodel.o
+                  # runners/tfmodel.o
 endif
 
   SSL_FLAGS = -I/usr/include/openssl/

selfdrive/visiond/cameras/camera_frame_stream.h

@@ -33,6 +33,8 @@ typedef struct CameraState {
   int fps;
   float digital_gain;
 
+  float cur_gain_frac;
+
   mat3 transform;
 } CameraState;