openpilot v0.3.2 release

DBC file for 2017 Honda CR-V

.gitignore

@@ -13,6 +13,7 @@ model2.png
 *.a
 *.clb
 *.class
+*.pyxbldc
 config.json
 clcache
 

RELEASES.md

@@ -1,4 +1,15 @@
-Version 0.3.0  (2017-03-xx)
+Version 0.3.2  (2017-05-22)
+===========================
+  * Minor stability bugfixes
+  * Added metrics and rear view mirror disable to settings
+  * Update model with more crowdsourced data
+
+Version 0.3.1  (2017-05-17)
+===========================
+  * visiond stability bugfix
+  * Add logging for angle and flashing
+
+Version 0.3.0  (2017-05-12)
 ===========================
   * Add CarParams struct to improve the abstraction layer
   * Refactor visiond IPC to support multiple clients

cereal/log.capnp

@@ -31,6 +31,10 @@ struct InitData {
   androidSensors @6 :List(AndroidSensor);
   chffrAndroidExtra @7 :ChffrAndroidExtra;
 
+  pandaInfo @8 :PandaInfo;
+
+  dirty @9 :Bool;
+
   enum DeviceType {
     unknown @0;
     neo @1;
@@ -84,6 +88,13 @@ struct InitData {
   struct ChffrAndroidExtra {
     allCameraCharacteristics @0 :Map(Text, Text);
   }
+
+  struct PandaInfo {
+    hasPanda @0: Bool;
+    dongleId @1: Text;
+    stVersion @2: Text;
+    espVersion @3: Text;
+  }
 }
 
 struct FrameData {
@@ -411,6 +422,7 @@ struct Plan {
   aTargetMin @4 :Float32;
   aTargetMax @5 :Float32;
   jerkFactor @6 :Float32;
+  hasLead @7 :Bool;
 }
 
 struct LiveLocationData {

common/params.py

@@ -52,6 +52,10 @@ keys = {
   "Version": TxType.PERSISTANT,
   "GitCommit": TxType.PERSISTANT,
   "GitBranch": TxType.PERSISTANT,
+# written: baseui
+# read:    ui, controls
+  "IsMetric": TxType.PERSISTANT,
+  "IsRearViewMirror": TxType.PERSISTANT,
 # written: visiond
 # read:    visiond
   "CalibrationParams": TxType.PERSISTANT,

dbcs/honda_crv_2017_can.dbc

@@ -0,0 +1,303 @@
+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_: EBCM NEO CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 57 XXX_1: 3 XXX
+
+BO_ 148 XXX_2: 8 XXX
+
+BO_ 228 STEERING_CONTROL: 5 NEO
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] ""  EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] ""  EPS
+ SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] ""  EPS
+ SG_ COUNTER : 33|2@0+ (1,0) [0|3] ""  EPS
+
+BO_ 232 BRAKE_COMMAND: 7 NEO
+ SG_ CAR_SPEED : 3|10@0- (1,0)  [1,0]
+ SG_ XXX : 8|1@0- (1,0)  [1,0]
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" EBCM
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 304 GAS_PEDAL: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s"  NEO
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg"  NEO
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 340 XXX_4: 8 XXX
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ TRANSMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ TRANSMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 427 XXX_5: 3 VSA
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 441 XXX_6: 5 VSA
+
+BO_ 446 XXX_7: 3 VSA
+
+BO_ 450 XXX_8: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 474 XXX_9: 8 XXX
+
+BO_ 477 XXX_10: 8 XXX
+
+BO_ 479 COMPUTER_GAS: 8 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] "" PCM
+ SG_ COMPUTER_GAS_ENABLED : 23|3@0+ (1,0) [0|5] ""  PCM
+ SG_ XXX : 20|1@0+ (1,0) [0|1] ""  XXX
+ SG_ XXX : 16|1@0+ (1,0) [0|1] ""  XXX
+ SG_ XXX : 19|1@0+ (1,0) [0|1] ""  XXX
+ SG_ XXX : 31|8@0+ (1,0) [0|255] ""  XXX
+ SG_ XXX : 39|3@0+ (1,0) [0|1] ""  XXX
+ SG_ XXX : 62|1@0+ (1,0) [0|1] ""  XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 490 XXX_12: 8 XXX
+
+BO_ 495 XXX_13: 8 XXX
+
+BO_ 545 XXX_14: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] ""  XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 662 CRUISE_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] ""  NEO
+ SG_ COUNTER : 31|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 29|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 777 ACC_HUD: 8 PCM
+ SG_ CAR_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 780 ACC_HUD_2: 8 RADAR
+ SG_ ACC_SPEED : 31|8@0+ (1,0) [0|255] "kph"  BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] ""  BDY
+ SG_ RDMS_STATE : 28|2 @0+ (1,0) [0|1] ""  BDY
+ SG_ CMBS_OFF : 35|1@0+ (1,0) [0|1] ""  BDY
+ SG_ CMBS_PROBLEM : 34|1@0+ (1,0) [0|1] ""  BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] ""  BDY
+ SG_ ACC_ON : 52|1@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
+
+BO_ 800 XXX_16: 8 XXX
+
+BO_ 804 TRIP: 8 PCM
+ SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
+ SG_ CAR_SPEED : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] ""  NEO
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 808 XXX_17: 8 XXX
+
+BO_ 814 XXX_18: 4 XXX
+
+BO_ 829 LKAS_HUD: 5 RADAR
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
+ SG_ LKAS_ON : 0|1@0+ (1,0) [0|1] ""  BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
+ SG_ LANE_DEPARTURE : 8|1@0+ (1,0) [0|1] ""  BDY
+ SG_ SOLID_LANE_LINES : 10|1@0+ (1,0) [0|1] ""  BDY
+ SG_ LANE_LINES_ON : 14|1@0+ (1,0) [0|1] ""  BDY
+ SG_ RDM_ON : 20|1@0+ (1,0) [0|1] ""  BDY
+ SG_ STEERING_REQ_CHIME : 17|2@0+ (1,0) [0|1] ""  BDY
+ SG_ RDMS_STATE : 28|2 @0+ (1,0) [0|1] ""  BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ HEARTBEAT : 7|56@0+ (1,0) [0|127] ""  BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 884 XXX_20: 8 XXX
+
+BO_ 891 XXX_21: 8 XXX
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] ""  BDY
+ SG_ XXX : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ALERTS : 20|5@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
+
+BO_ 929 XXX_23: 8 XXX
+
+BO_ 985 XXX_24: 3 XXX
+
+BO_ 1024 XXX_25: 5 XXX
+
+BO_ 1027 XXX_26: 5 XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 1036 XXX_27: 8 XXX
+
+BO_ 1039 XXX_28: 8 XXX
+
+BO_ 1108 XXX_29: 8 XXX
+
+BO_ 1302 XXX_30: 8 XXX
+
+BO_ 1322 XXX_31: 5 XXX
+
+BO_ 1361 XXX_32: 5 XXX
+
+BO_ 1365 XXX_33: 5 XXX
+
+BO_ 1424 XXX_34: 5 XXX
+
+BO_ 1600 XXX_35: 5 XXX
+
+BO_ 1601 XXX_36: 8 XXX
+
+BO_ 1618 XXX_37: 5 XXX
+
+BO_ 1633 XXX_38: 8 XXX
+
+BO_ 1670 XXX_39: 8 XXX
+
+BO_TX_BU_ 0xE4 : NEO,RADAR;
+BO_TX_BY_ 0xE8 : NEO,RADAR;
+BO_TX_BU_ 0x1DF : NEO,RADAR;
+BO_TX_BU_ 0x30C : NEO,RADAR;
+BO_TX_BU_ 0x33D : NEO,RADAR;
+BO_TX_BU_ 0x35E : NEO,CAM;
+BO_TX_BU_ 0x39F : NEO,RADAR;

selfdrive/car/honda/carcontroller.py

@@ -87,6 +87,10 @@ class CarController(object):
              snd_beep, snd_chime):
     """ Controls thread """
 
+    # TODO: Make the accord work.
+    if CS.accord:
+      return
+
     # *** apply brake hysteresis ***
     final_brake, self.braking, self.brake_steady = actuator_hystereses(final_brake, self.braking, self.brake_steady, CS.v_ego, CS.civic)
 

selfdrive/car/honda/hondacan.py

@@ -50,7 +50,7 @@ def create_accord_steering_control(apply_steer, idx):
     dat = [0, 0, 0x40, 0]
   else:
     dat = [0,0,0,0]
-    rp = clip(apply_steer/0xF, -0xFF, 0xFF)
+    rp = np.clip(apply_steer/0xF, -0xFF, 0xFF)
     if rp < 0:
       rp += 512
     dat[0] |= (rp >> 5) & 0xf

selfdrive/common/params.c

@@ -49,7 +49,12 @@ int write_db_value(const char* params_path, const char* key, const char* value,
 
   // Move temp into place.
   result = rename(tmp_path, path);
+  if (result < 0) {
+    goto cleanup;
+  }
 
+  // fsync to force persist the changes.
+  result = fsync(tmp_fd);
 cleanup:
   // Release lock.
   if (lock_fd >= 0) {

selfdrive/common/version.h

@@ -1 +1 @@
-const char *openpilot_version = "0.3.1";
+const char *openpilot_version = "0.3.2";

selfdrive/controls/controlsd.py

@@ -52,7 +52,8 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
   CI = CarInterface(CP, logcan, sendcan)
 
   # write CarParams
-  Params().put("CarParams", CP.to_bytes())
+  params = Params()
+  params.put("CarParams", CP.to_bytes())
 
   AM = AlertManager()
 
@@ -74,6 +75,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
   # rear view camera state
   rear_view_toggle = False
+  rear_view_allowed = bool(params.get("IsRearViewMirror"))
 
   v_cruise_kph = 255
 
@@ -127,7 +129,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
       # button presses for rear view
       if b.type == "leftBlinker" or b.type == "rightBlinker":
-        if b.pressed:
+        if b.pressed and rear_view_allowed:
           rear_view_toggle = True
         else:
           rear_view_toggle = False
@@ -318,9 +320,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     CC.hudControl.setSpeed = float(v_cruise_kph * CV.KPH_TO_MS)
     CC.hudControl.speedVisible = enabled
     CC.hudControl.lanesVisible = enabled
-    #CC.hudControl.leadVisible = bool(AC.has_lead)
-    # TODO: fix this
-    CC.hudControl.leadVisible = False
+    CC.hudControl.leadVisible = plan.hasLead
 
     CC.hudControl.visualAlert = visual_alert
     CC.hudControl.audibleAlert = audible_alert
@@ -344,7 +344,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     dat.init('live100')
 
     # show rear view camera on phone if in reverse gear or when button is pressed
-    dat.live100.rearViewCam = ('reverseGear' in CS.errors) or rear_view_toggle
+    dat.live100.rearViewCam = ('reverseGear' in CS.errors and rear_view_allowed) or rear_view_toggle
     dat.live100.alertText1 = alert_text_1
     dat.live100.alertText2 = alert_text_2
     dat.live100.awarenessStatus = max(awareness_status, 0.0) if enabled else 0.0

selfdrive/controls/plannerd.py

@@ -68,6 +68,7 @@ def plannerd_thread(gctx):
         plan_send.plan.aTargetMin = float(AC.a_target[0])
         plan_send.plan.aTargetMax = float(AC.a_target[1])
         plan_send.plan.jerkFactor = float(AC.jerk_factor)
+        plan_send.plan.hasLead = AC.has_lead
 
       plan.send(plan_send.to_bytes())
 

selfdrive/loggerd/config.py

@@ -1,4 +1,4 @@
 import os
 
-ROOT = '/sdcard/realdata/'
+ROOT = '/data/media/0/realdata/'
 SEGMENT_LENGTH = 60

selfdrive/loggerd/uploader.py

@@ -208,7 +208,7 @@ class Uploader(object):
       cloudlog.info("uploading %r", fn)
       # stat = self.killable_upload(key, fn)
       stat = self.normal_upload(key, fn)
-      if stat is not None and stat.status_code == 200:
+      if stat is not None and stat.status_code in (200, 201):
         cloudlog.event("upload_success", key=key, fn=fn, sz=sz)
         os.unlink(fn) # delete the file
         success = True
@@ -254,7 +254,7 @@ def uploader_fn(exit_event):
       else:
         cloudlog.info("backoff %r", backoff)
         time.sleep(backoff + random.uniform(0, backoff))
-        backoff *= 2
+        backoff = min(backoff*2, 120)
       cloudlog.info("upload done, success=%r", success)
 
     time.sleep(5)

selfdrive/manager.py

@@ -3,7 +3,9 @@ import os
 
 # check if NEOS update is required
 while 1:
-  if (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 3) and not os.path.isfile("/sdcard/noupdate"):
+  if ((not os.path.isfile("/VERSION")
+      or int(open("/VERSION").read()) < 3)
+      and not os.path.isfile("/data/media/0/noupdate")):
     os.system("curl -o /tmp/updater https://openpilot.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater")
   else:
     break
@@ -183,15 +185,34 @@ def manager_init():
   cloudlog.info("dongle id is " + dongle_id)
   os.environ['DONGLE_ID'] = dongle_id
 
+  dirty = subprocess.call(["git", "diff-index", "--quiet", "origin/release", "--"]) != 0
+  cloudlog.info("dirty is %d" % dirty)
+  if not dirty:
+    os.environ['CLEAN'] = '1'
+
   cloudlog.bind_global(dongle_id=dongle_id, version=version)
   crash.bind_user(id=dongle_id)
-  crash.bind_extra(version=version)
+  crash.bind_extra(version=version, dirty=dirty)
 
-  os.system("mkdir -p "+ROOT)
+  os.umask(0)
+  try:
+    os.mkdir(ROOT, 0777)
+  except OSError:
+    pass
 
   # set gctx
   gctx = {}
 
+def system(cmd):
+  try:
+    cloudlog.info("running %s" % cmd)
+    subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
+  except subprocess.CalledProcessError, e:
+    cloudlog.event("running failed",
+      cmd=e.cmd,
+      output=e.output,
+      returncode=e.returncode)
+
 def manager_thread():
   global baseui_running
 
@@ -219,14 +240,13 @@ def manager_thread():
   if os.getenv("NOPROG") is None:
     # checkout the matching panda repo
     rootdir = os.path.dirname(os.path.abspath(__file__))
-    ret = os.system("cd %s && git submodule init && git submodule update" % rootdir)
-    cloudlog.info("git submodule update panda returned %d" % ret)
+    system("cd %s && git submodule init" % rootdir)
+    system("cd %s && git submodule update" % rootdir)
     # flash the board
     boarddir = os.path.dirname(os.path.abspath(__file__))+"/../panda/board/"
     mkfile = "Makefile" if panda else "Makefile.legacy"
     print "using", mkfile
-    ret = os.system("cd %s && make -f %s" % (boarddir, mkfile))
-    cloudlog.info("flash board returned %d" % ret)
+    system("cd %s && make -f %s" % (boarddir, mkfile))
 
   start_managed_process("boardd")
 
@@ -421,6 +441,13 @@ def main():
 
   params = Params()
   params.manager_start()
+
+  # set unset params
+  if params.get("IsMetric") is None:
+    params.put("IsMetric", "0")
+  if params.get("IsRearViewMirror") is None:
+    params.put("IsRearViewMirror", "1")
+
   manager_init()
   manager_prepare()
   

selfdrive/service_list.yaml

@@ -41,6 +41,7 @@ navUpdate: [8028, true]
 qcomGnss: [8029, true]
 lidarPts: [8030, true]
 procLog: [8031, true]
+testModel: [8040, false]
 
 # manager -- base process to manage starting and stopping of all others
 #   subscribes: health

selfdrive/tombstoned.py

@@ -56,6 +56,7 @@ def report_tombstone(fn, client):
       'backtrace': parsedict.get('backtrace'),
       'logtail': logtail,
       'version': version,
+      'dirty': not bool(os.environ.get('CLEAN')),
     },
     user={'id': os.environ.get('DONGLE_ID')},
     message=message,

selfdrive/ui/ui.c

@@ -122,6 +122,8 @@ typedef struct UIState {
 
   bool awake;
   int awake_timeout;
+
+  bool is_metric;
 } UIState;
 
 static void set_awake(UIState *s, bool awake) {
@@ -342,6 +344,13 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
     0.0, 0.0, 1.0, 0.0,
     0.0, 0.0, 0.0, 1.0,
   }};
+
+  char *value;
+  const int result = read_db_value("/data/params", "IsMetric", &value, NULL);
+  if (result == 0) {
+    s->is_metric = value[0] == '1';
+    free(value);
+  }
 }
 
 static void ui_update_frame(UIState *s) {
@@ -621,9 +630,15 @@ static void ui_draw_world(UIState *s) {
 
   if (scene->lead_status) {
     char radar_str[16];
-    int lead_v_rel = (int)(2.236 * scene->lead_v_rel);
-    snprintf(radar_str, sizeof(radar_str), "%3d m %+d mph",
-             (int)(scene->lead_d_rel), lead_v_rel);
+    if (s->is_metric) {
+      int lead_v_rel = (int)(3.6 * scene->lead_v_rel);
+      snprintf(radar_str, sizeof(radar_str), "%3d m %+d kph",
+               (int)(scene->lead_d_rel), lead_v_rel);
+    } else {
+      int lead_v_rel = (int)(2.236 * scene->lead_v_rel);
+      snprintf(radar_str, sizeof(radar_str), "%3d m %+d mph",
+               (int)(scene->lead_d_rel), lead_v_rel);
+    }
     nvgFontSize(s->vg, 96.0f);
     nvgFillColor(s->vg, nvgRGBA(128, 128, 0, 192));
     nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
@@ -670,16 +685,26 @@ static void ui_draw_vision(UIState *s) {
     }
 
     if (scene->v_cruise != 255 && scene->v_cruise != 0) {
-      // Convert KPH to MPH.
-      snprintf(speed_str, sizeof(speed_str), "%3d MPH",
-               (int)(scene->v_cruise * 0.621371 + 0.5));
+      if (s->is_metric) {
+        snprintf(speed_str, sizeof(speed_str), "%3d KPH",
+                 (int)(scene->v_cruise + 0.5));
+      } else {
+        // Convert KPH to MPH.
+        snprintf(speed_str, sizeof(speed_str), "%3d MPH",
+                 (int)(scene->v_cruise * 0.621371 + 0.5));
+      }
       nvgTextAlign(s->vg, NVG_ALIGN_RIGHT | NVG_ALIGN_BASELINE);
       nvgText(s->vg, 500, 150, speed_str, NULL);
     }
 
     nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 192));
-    snprintf(speed_str, sizeof(speed_str), "%3d MPH",
-             (int)(scene->v_ego * 2.237 + 0.5));
+    if (s->is_metric) {
+      snprintf(speed_str, sizeof(speed_str), "%3d KPH",
+               (int)(scene->v_ego * 3.6 + 0.5));
+    } else {
+      snprintf(speed_str, sizeof(speed_str), "%3d MPH",
+               (int)(scene->v_ego * 2.237 + 0.5));
+    }
     nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
     nvgText(s->vg, 1920 - 500, 150, speed_str, NULL);