openpilot v0.8.2 release

common/api/__init__.py

@@ -27,7 +27,11 @@ class Api():
       'iat': now,
       'exp': now + timedelta(hours=1)
     }
-    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+    
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   backend = "https://api.commadotai.com/"

common/basedir.py

@@ -1,8 +1,11 @@
 import os
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+from pathlib import Path
 
 from selfdrive.hardware import PC
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
 if PC:
-  PERSIST = os.path.join(BASEDIR, "persist")
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
   PERSIST = "/persist"

common/params.py

@@ -2,3 +2,22 @@ from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint:
 assert Params
 assert UnknownKeyName
 assert put_nonblocking
+
+if __name__ == "__main__":
+  import sys
+  from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
+
+  params = Params()
+  if len(sys.argv) == 3:
+    name = sys.argv[1]
+    val = sys.argv[2]
+    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
+    print(f"SET: {name} = {val}")
+    params.put(name, val)
+  elif len(sys.argv) == 2:
+    name = sys.argv[1]
+    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
+    print(f"GET: {name} = {params.get(name)}")
+  else:
+    for k in keys.keys():
+      print(f"GET: {k} = {params.get(k)}")

common/params_pxd.pxd

@@ -4,7 +4,7 @@ from libcpp cimport bool
 cdef extern from "selfdrive/common/params.cc":
   pass
 
-cdef extern from "selfdrive/common/util.c":
+cdef extern from "selfdrive/common/util.cc":
   pass
 
 cdef extern from "selfdrive/common/params.h":

common/params_pyx.pyx

@@ -31,9 +31,11 @@ keys = {
   b"GitCommit": [TxType.PERSISTENT],
   b"GitRemote": [TxType.PERSISTENT],
   b"GithubSshKeys": [TxType.PERSISTENT],
+  b"HardwareSerial": [TxType.PERSISTENT],
   b"HasAcceptedTerms": [TxType.PERSISTENT],
   b"HasCompletedSetup": [TxType.PERSISTENT],
   b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
+  b"IMEI": [TxType.PERSISTENT],
   b"IsLdwEnabled": [TxType.PERSISTENT],
   b"IsMetric": [TxType.PERSISTENT],
   b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
@@ -42,8 +44,9 @@ keys = {
   b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   b"IsUploadRawEnabled": [TxType.PERSISTENT],
   b"LastAthenaPingTime": [TxType.PERSISTENT],
-  b"LastUpdateTime": [TxType.PERSISTENT],
+  b"LastGPSPosition": [TxType.PERSISTENT],
   b"LastUpdateException": [TxType.PERSISTENT],
+  b"LastUpdateTime": [TxType.PERSISTENT],
   b"LiveParameters": [TxType.PERSISTENT],
   b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
   b"LaneChangeEnabled": [TxType.PERSISTENT],
@@ -55,11 +58,14 @@ keys = {
   b"ReleaseNotes": [TxType.PERSISTENT],
   b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   b"SubscriberInfo": [TxType.PERSISTENT],
+  b"SshEnabled": [TxType.PERSISTENT],
   b"TermsVersion": [TxType.PERSISTENT],
+  b"Timezone": [TxType.PERSISTENT],
   b"TrainingVersion": [TxType.PERSISTENT],
   b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
   b"Version": [TxType.PERSISTENT],
+  b"VisionRadarToggle": [TxType.PERSISTENT],
   b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
   b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
@@ -70,6 +76,7 @@ keys = {
   b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
   b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
   b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
+  b"ForcePowerDown": [TxType.CLEAR_ON_MANAGER_START],
 }
 
 def ensure_bytes(v):

common/spinner.py

@@ -16,7 +16,7 @@ class Spinner():
   def __enter__(self):
     return self
 
-  def update(self, spinner_text):
+  def update(self, spinner_text: str):
     if self.spinner_proc is not None:
       self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
       try:
@@ -24,6 +24,9 @@ class Spinner():
       except BrokenPipeError:
         pass
 
+  def update_progress(self, cur: int, total: int):
+    self.update(str(int(100 * cur / total)))
+
   def close(self):
     if self.spinner_proc is not None:
       try:

common/transformations/SConscript

@@ -1,3 +1,6 @@
-Import('envCython')
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+Export('transformations')
 
 envCython.Program('transformations.so', 'transformations.pyx')

common/transformations/orientation.cc

@@ -39,7 +39,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
   return quat.toRotationMatrix();
 }
 
-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
   return ensure_unique(Eigen::Quaterniond(rot));
 }
 
@@ -47,7 +47,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
   return quat2rot(euler2quat(euler));
 }
 
-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
   return quat2euler(rot2quat(rot));
 }
 
@@ -141,7 +141,3 @@ Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
   return {phi, theta, psi};
 }
 
-
-
-int main(void){
-}

common/transformations/orientation.hpp

@@ -8,9 +8,9 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
 Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
 Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
 Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
 Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
 Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);