openpilot v0.3.4 tweaks

Revert "Pulled in new panda firmware and updated boardd to support the changes."

.gitignore

@@ -1,18 +1,22 @@
 .DS_Store
 .tags
 .ipynb_checkpoints
+.idea
 model2.png
 
+*.d
 *.pyc
+*.pyo
 .*.swp
 .*.swo
 .*.un~
 *.o
-*.d
 *.so
 *.a
 *.clb
 *.class
+*.pyxbldc
+*.vcd
 config.json
 clcache
 

.gitmodules

@@ -1,3 +1,9 @@
 [submodule "panda"]
 	path = panda
 	url = https://github.com/commaai/panda.git
+[submodule "opendbc"]
+	path = opendbc
+	url = https://github.com/commaai/opendbc.git
+[submodule "pyextra"]
+	path = pyextra
+	url = https://github.com/commaai/openpilot-pyextra.git

Dockerfile.openpilot

@@ -1,15 +1,9 @@
-FROM ubuntu:14.04
+FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y build-essential screen wget bzip2 git libglib2.0-0
+RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev
 
-RUN wget -nv -O /tmp/anaconda.sh https://repo.continuum.io/archive/Anaconda2-4.2.0-Linux-x86_64.sh && \
-  /bin/bash /tmp/anaconda.sh -b -p /opt/conda && \
-  rm /tmp/anaconda.sh
-
-ENV PATH /opt/conda/bin:$PATH
-
-RUN conda install numpy==1.11.2 && conda install scipy==0.18.1
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
 
 COPY requirements_openpilot.txt /tmp/
 RUN pip install -r /tmp/requirements_openpilot.txt

README.md

@@ -7,6 +7,8 @@ Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Ke
 
 The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
+Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
+
 Hardware
 ------
 
@@ -18,17 +20,20 @@ Supported Cars
 ------
 
 - Acura ILX 2016 with AcuraWatch Plus
-  - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
+  - Due to use of the cruise control for gas, it can only be enabled above 25 mph
 
 - Honda Civic 2016 with Honda Sensing
-  - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
+
+- Honda CR-V Touring 2015-2016 (very alpha!)
+  - Can only be enabled above 25 mph
 
 Directory structure
 ------
 
 - cereal        -- The messaging spec used for all logs on the phone
 - common        -- Library like functionality we've developed here
-- dbcs          -- Files showing how to interpret data from cars
+- opendbc       -- Files showing how to interpret data from cars
 - panda         -- Code used to communicate on CAN and LIN
 - phonelibs     -- Libraries used on the phone
 - selfdrive     -- Code needed to drive the car
@@ -66,11 +71,9 @@ More extensive testing infrastructure and simulation environments are coming soo
 Adding Car Support
 ------
 
-It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
+comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
 
-The Honda Accord uses different signaling for the steering and probably requires new hardware.
-
-Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
+CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
 
 User Data / chffr Account / Crash Reporting
 ------
@@ -91,13 +94,15 @@ We welcome both pull requests and issues on
 [github](http://github.com/commaai/openpilot). See the TODO file for a list of
 good places to start.
 
-Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
+Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
 
 Licensing
 ------
 
 openpilot is released under the MIT license.
 
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**

RELEASES.md

@@ -1,4 +1,34 @@
-Version 0.3.0  (2017-03-xx)
+Version 0.3.4 (2017-07-28)
+==========================
+ * Improved model trained on more data
+ * Much improved controls tuning
+ * Performance improvements
+ * Bugfixes and improvements to calibration
+ * Driving log can play back video
+ * Acura only: system now stays engaged below 25mph as long as brakes are applied
+
+Version 0.3.3  (2017-06-28)
+===========================
+  * Improved model trained on more data
+  * Alpha CR-V support thanks to energee and johnnwvs!
+  * Using the opendbc project for DBC files
+  * Minor performance improvements
+  * UI update thanks to pjlao307
+  * Power off button
+  * 6% more torque on the Civic
+
+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/__init__.py

@@ -1,8 +1,20 @@
 import os
 import capnp
-capnp.remove_import_hook()
 
 CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
-log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+capnp.remove_import_hook()
 
+if os.getenv("NEWCAPNP"):
+  import tempfile
+  import pyximport
+
+  importers = pyximport.install(build_dir=os.path.join(tempfile.gettempdir(), ".pyxbld"))
+  try:
+    import cereal.gen.cython.log_capnp_cython as log
+    import cereal.gen.cython.car_capnp_cython as car
+  finally:
+    pyximport.uninstall(*importers)
+    del importers
+else:
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))

cereal/build_from_src.mk

@@ -1,14 +1,21 @@
 SRCS := log.capnp car.capnp
 
-GENS := gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h \
-	      gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+
+
+UNAME_M := $(shell uname -m)
+
+# only generate C++ for docker tests
+ifneq ($(OPTEST),1)
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
 
 # Dont build java on the phone...
-UNAME_M := $(shell uname -m)
 ifeq ($(UNAME_M),x86_64)
 	GENS += gen/java/Car.java gen/java/Log.java
 endif
 
+endif
+
 .PHONY: all
 all: $(GENS)
 

cereal/car.capnp

@@ -50,6 +50,7 @@ struct CarState {
   struct CruiseState {
     enabled @0: Bool;
     speed @1: Float32;
+    available @2: Bool;
   }
 
   enum Error {
@@ -63,7 +64,7 @@ struct CarState {
     seatbeltNotLatched @6;
     espDisabled @7;
     wrongCarMode @8;
-    steerTemporarilyUnavailable @9;
+    steerTempUnavailable @9;
     reverseGear @10;
     # ...
   }

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 {
@@ -129,11 +140,16 @@ struct SensorEventData {
   sensor @1 :Int32;
   type @2 :Int32;
   timestamp @3 :Int64;
+  uncalibratedDEPRECATED @10 :Bool;
+
   union {
     acceleration @4 :SensorVec;
     magnetic @5 :SensorVec;
     orientation @6 :SensorVec;
     gyro @7 :SensorVec;
+    pressure @9 :SensorVec;
+    magneticUncalibrated @11 :SensorVec;
+    gyroUncalibrated @12 :SensorVec;
   }
   source @8 :SensorSource;
 
@@ -170,7 +186,7 @@ struct GpsLocationData {
   # Represents heading in degrees.
   bearing @5 :Float32;
 
-  # Represents expected accuracy in meters.
+  # Represents expected accuracy in meters. (presumably 1 sigma?)
   accuracy @6 :Float32;
 
   # Timestamp for the location fix.
@@ -178,6 +194,18 @@ struct GpsLocationData {
   timestamp @7 :Int64;
 
   source @8 :SensorSource;
+  
+  # Represents NED velocity in m/s.
+  vNED @9 :List(Float32);
+  
+  # Represents expected vertical accuracy in meters. (presumably 1 sigma?)
+  verticalAccuracy @10 :Float32;
+
+  # Represents bearing accuracy in degrees. (presumably 1 sigma?)
+  bearingAccuracy @11 :Float32;
+
+  # Represents velocity accuracy in m/s. (presumably 1 sigma?)
+  speedAccuracy @12 :Float32;
 
   enum SensorSource {
     android @0;
@@ -186,6 +214,7 @@ struct GpsLocationData {
     velodyne @3;  # Velodyne IMU
     fusion @4;
     external @5;
+    ublox @6;
   }
 }
 
@@ -193,7 +222,7 @@ struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
   dat     @2 :Data;
-  src     @3 :Int8;
+  src     @3 :UInt8;
 }
 
 struct ThermalData {
@@ -231,7 +260,8 @@ struct LiveUI {
 struct Live20Data {
   canMonoTimes @10 :List(UInt64);
   mdMonoTime @6 :UInt64;
-  ftMonoTime @7 :UInt64;
+  ftMonoTimeDEPRECATED @7 :UInt64;
+  l100MonoTime @11 :UInt64;
 
   # all deprecated
   warpMatrixDEPRECATED @0 :List(Float32);
@@ -284,10 +314,11 @@ struct LiveTracks {
 }
 
 struct Live100Data {
-  canMonoTime @16 :UInt64;
+  canMonoTimeDEPRECATED @16 :UInt64;
   canMonoTimes @21 :List(UInt64);
-  l20MonoTime @17 :UInt64;
-  mdMonoTime @18 :UInt64;
+  l20MonoTimeDEPRECATED @17 :UInt64;
+  mdMonoTimeDEPRECATED @18 :UInt64;
+  planMonoTime @28 :UInt64;
 
   vEgo @0 :Float32;
   aEgoDEPRECATED @1 :Float32;
@@ -381,7 +412,8 @@ struct EncodeIndex {
     bigBoxLossless @0;   # rcamera.mkv
     fullHEVC @1;         # fcamera.hevc
     bigBoxHEVC @2;       # bcamera.hevc
-    chffrAndroidH264 @3; # camera
+    chffrAndroidH264 @3; # acamera
+    fullLosslessClip @4; # prcamera.mkv
   }
 }
 
@@ -401,6 +433,9 @@ struct LogRotate {
 }
 
 struct Plan {
+  mdMonoTime @9 :UInt64;
+  l20MonoTime @10 :UInt64;
+
   # lateral, 3rd order polynomial
   lateralValid @0: Bool;
   dPoly @1 :List(Float32);
@@ -411,6 +446,8 @@ struct Plan {
   aTargetMin @4 :Float32;
   aTargetMax @5 :Float32;
   jerkFactor @6 :Float32;
+  hasLead @7 :Bool;
+  fcw @8 :Bool;
 }
 
 struct LiveLocationData {
@@ -896,6 +933,114 @@ struct ProcLog {
 
 }
 
+struct UbloxGnss {
+  union {
+    measurementReport @0 :MeasurementReport;
+    ephemeris @1 :Ephemeris;
+  }
+
+  struct MeasurementReport {
+    #received time of week in gps time in seconds and gps week
+    rcvTow @0 :Float64;
+    gpsWeek @1 :UInt16;
+    # leap seconds in seconds
+    leapSeconds @2 :UInt16;
+    # receiver status
+    receiverStatus @3 :ReceiverStatus;
+    # num of measurements to follow
+    numMeas @4 :UInt8;
+    measurements @5 :List(Measurement);
+        
+    struct ReceiverStatus {
+      # leap seconds have been determined 
+      leapSecValid @0 :Bool;
+      # Clock reset applied
+      clkReset @1 : Bool;
+    }
+
+    struct Measurement {
+      svId @0 :UInt8;
+      trackingStatus @1 :TrackingStatus;
+      # pseudorange in meters
+      pseudorange @2 :Float64;
+      # carrier phase measurement in cycles
+      carrierCycles @3 :Float64;
+      # doppler measurement in Hz
+      doppler @4 :Float32;
+      # GNSS id, 0 is gps
+      gnssId @5 :UInt8;
+      glonassFrequencyIndex @6 :UInt8;
+      # carrier phase locktime counter in ms
+      locktime @7 :UInt16;
+      # Carrier-to-noise density ratio (signal strength) in dBHz
+      cno @8 : UInt8;
+      # pseudorange standard deviation in meters
+      pseudorangeStdev @9 :Float32;
+      # carrier phase standard deviation in cycles
+      carrierPhaseStdev @10 :Float32;
+      # doppler standard deviation in Hz
+      dopplerStdev @11 :Float32;
+
+      struct TrackingStatus {
+        # pseudorange valid
+        pseudorangeValid @0 :Bool;
+        # carrier phase valid
+        carrierPhaseValid @1 :Bool;
+        # half cycle valid
+        halfCycleValid @2 :Bool;
+        # half sycle subtracted from phase
+        halfCycleSubtracted @3 :Bool;
+      }
+    }
+  }
+
+  struct Ephemeris {
+    # This is according to the rinex (2?) format
+    svId @0 :UInt16;
+    year @1 :UInt16;
+    month @2 :UInt16;
+    day @3 :UInt16;
+    hour @4 :UInt16;
+    minute @5 :UInt16;
+    second @6 :Float32;
+    af0 @7 :Float64;
+    af1 @8 :Float64;
+    af2 @9 :Float64;
+
+    iode @10 :Float64;
+    crs @11 :Float64;
+    deltaN @12 :Float64;
+    m0 @13 :Float64;
+
+    cuc @14 :Float64;
+    ecc @15 :Float64;
+    cus @16 :Float64;
+    a @17 :Float64; # note that this is not the root!!
+    
+    toe @18 :Float64;
+    cic @19 :Float64;
+    omega0 @20 :Float64;
+    cis @21 :Float64;
+    
+    i0 @22 :Float64;
+    crc @23 :Float64;
+    omega @24 :Float64;
+    omegaDot @25 :Float64;
+    
+    iDot @26 :Float64;
+    codesL2 @27 :Float64;
+    gpsWeek @28 :Float64;
+    l2 @29 :Float64;
+    
+    svAcc @30 :Float64;
+    svHealth @31 :Float64;
+    tgd @32 :Float64;
+    iodc @33 :Float64;
+    
+    transmissionTime @34 :Float64;
+    fitInterval @35 :Float64;
+  }
+}
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -934,5 +1079,6 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     lidarPts @32 :LidarPts;
     procLog @33 :ProcLog;
+    ubloxGnss @34 :UbloxGnss;
   }
 }

common/api/__init__.py

@@ -1,13 +1,15 @@
 import requests
 
+from selfdrive.version import version
+
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   backend = "https://api.commadotai.com/"
 
-  params['_version'] = "OPENPILOTv0.3"
-
   headers = {}
   if access_token is not None:
     headers['Authorization'] = "JWT "+access_token
 
+  headers['User-Agent'] = "openpilot-" + version
+
   return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
 

common/dbc.py

@@ -1,6 +1,7 @@
 import re
+import os
+import struct
 import bitstring
-from binascii import hexlify
 from collections import namedtuple
 
 def int_or_float(s):
@@ -16,6 +17,7 @@ DBCSignal = namedtuple(
 
 class dbc(object):
   def __init__(self, fn):
+    self.name, _ = os.path.splitext(os.path.basename(fn))
     with open(fn) as f:
       self.txt = f.read().split("\n")
     self._warned_addresses = set()
@@ -32,10 +34,8 @@ class dbc(object):
     # signals is a list of DBCSignal in order of increasing start_bit.
     self.msgs = {}
 
-    self.bits = []
-    for i in range(0, 64, 8):
-      for j in range(7, -1, -1):
-        self.bits.append(i+j)
+    # lookup to bit reverse each byte
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
 
     for l in self.txt:
       l = l.strip()
@@ -102,7 +102,7 @@ class dbc(object):
         if s.is_little_endian:
           ss = s.start_bit
         else:
-          ss = self.bits.index(s.start_bit)
+          ss = self.bits_index[s.start_bit]
 
 
         if s.is_signed:
@@ -135,9 +135,6 @@ class dbc(object):
         Returns (None, None) if the message could not be decoded.
     """
     
-    def swap_order(d, wsz=4, gsz=2 ):
-      return "".join(["".join([m[i:i+gsz] for i in range(wsz-gsz,-gsz,-gsz)]) for m in [d[i:i+wsz] for i in range(0,len(d),wsz)]])
-    
     if arr is None:
       out = {}
     else:
@@ -156,6 +153,9 @@ class dbc(object):
 
     blen = 8*len(x[2])
 
+    st = x[2].rjust(8, '\x00')
+    le, be = None, None
+
     for s in msg[1]:
       if arr is not None and s[0] not in arr:
         continue
@@ -163,15 +163,18 @@ class dbc(object):
       # big or little endian?
       #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
       if s[3] is False:
-        ss = self.bits.index(s[1])
-        x2_int = int(hexlify(x[2]), 16)
+        ss = self.bits_index[s[1]]
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        x2_int = be
         data_bit_pos = (blen - (ss + s[2]))
       else:
-        x2_int = int(swap_order(hexlify(x[2]), 16, 2), 16)
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        x2_int = le
         ss = s[1]
         data_bit_pos = ss
 
-      
       if data_bit_pos < 0:
         continue
       ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)

common/fingerprints.py

@@ -1,3 +1,4 @@
+import os
 
 _FINGERPRINTS = {
   "ACURA ILX 2016 ACURAWATCH PLUS": {
@@ -12,6 +13,11 @@ _FINGERPRINTS = {
   },
   "HONDA ACCORD 2016 TOURING": {
     1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
+  },
+  "HONDA CR-V 2016 TOURING": {
+    57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
+    # sent messages
+    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
   }
 }
 
@@ -46,30 +52,13 @@ def fingerprint(logcan):
   import selfdrive.messaging as messaging
   from cereal import car
   from common.realtime import sec_since_boot
-  import os
+
   if os.getenv("SIMULATOR") is not None or logcan is None:
-    # send message
-    ret = car.CarParams.new_message()
-
-    ret.carName = "simulator"
-    ret.radarName = "nidec"
-    ret.carFingerprint = "THE LOW QUALITY SIMULATOR"
-
-    ret.enableSteer = True
-    ret.enableBrake = True
-    ret.enableGas = True
-    ret.enableCruise = False
-
-    ret.wheelBase = 2.67
-    ret.steerRatio = 15.3
-    ret.slipFactor = 0.0014
-
-    ret.steerKp, ret.steerKi = 12.0, 1.0
-    return ret
+    return ("simulator", None)
+  elif os.getenv("SIMULATOR2") is not None:
+    return ("simulator2", None)
 
   print "waiting for fingerprint..."
-  brake_only = True
-
   candidate_cars = all_known_cars()
   finger = {}
   st = None
@@ -78,9 +67,6 @@ def fingerprint(logcan):
       if st is None:
         st = sec_since_boot()
       for can in a.can:
-        # pedal
-        if can.address == 0x201 and can.src == 0:
-          brake_only = False
         if can.src == 0:
           finger[can.address] = len(can.dat)
         candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
@@ -93,36 +79,4 @@ def fingerprint(logcan):
       raise Exception("car doesn't match any fingerprints")
 
   print "fingerprinted", candidate_cars[0]
-
-  # send message
-  ret = car.CarParams.new_message()
-
-  ret.carName = "honda"
-  ret.radarName = "nidec"
-  ret.carFingerprint = candidate_cars[0]
-
-  ret.enableSteer = True
-  ret.enableBrake = True
-  ret.enableGas = not brake_only
-  ret.enableCruise = brake_only
-  #ret.enableCruise = False
-
-  ret.wheelBase = 2.67
-  ret.steerRatio = 15.3
-  ret.slipFactor = 0.0014
-
-  if candidate_cars[0] == "HONDA CIVIC 2016 TOURING":
-    ret.steerKp, ret.steerKi = 12.0, 1.0
-  elif candidate_cars[0] == "ACURA ILX 2016 ACURAWATCH PLUS":
-    if not brake_only:
-      # assuming if we have an interceptor we also have a torque mod
-      ret.steerKp, ret.steerKi = 6.0, 0.5
-    else:
-      ret.steerKp, ret.steerKi = 12.0, 1.0
-  elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
-    ret.steerKp, ret.steerKi = 12.0, 1.0
-  else:
-    raise ValueError("unsupported car %s" % candidate_cars[0])
-
-  return ret
-
+  return (candidate_cars[0], finger)

common/kalman/ekf.py

@@ -1,7 +1,6 @@
 import abc
 import numpy as np
 import numpy.matlib
-
 # The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
 # A subclass must implement:
 #   1) calc_transfer_fun(); see bottom of file for more info.
@@ -68,55 +67,6 @@ class SimpleSensor:
       self.covar = covar
     return SensorReading(data, self.covar, self.obs_model)
 
-class GPS:
-  earth_r = 6371e3  # m, average earth radius
-
-  def __init__(self, xy_idx=(0, 1), dims=2, var=1e4):
-    self.obs_model = np.matlib.zeros((2, dims))
-    self.obs_model[:, tuple(xy_idx)] = np.matlib.identity(2)
-    self.covar = np.matlib.identity(2) * var
-
-  # [lat, lon] in decimal degrees
-  def init_pos(self, latlon):
-    self.init_lat, self.init_lon = np.radians(np.asarray(latlon[:2]))
-
-  # Compute straight-line distance, in meters, between two lat/long coordinates
-  # Input in radians
-  def haversine(self, lat1, lon1, lat2, lon2):
-    lat_diff = lat2 - lat1
-    lon_diff = lon2 - lon1
-    d = np.sin(lat_diff * 0.5)**2 + np.cos(lat1) * np.cos(lat2) * np.sin(
-      lon_diff * 0.5)**2
-    h = 2 * GPS.earth_r * np.arcsin(np.sqrt(d))
-    return h
-
-  # Convert decimal degrees into meters
-  def convert_deg2m(self, lat, lon):
-    lat, lon = np.radians([lat, lon])
-
-    xs = (lon - self.init_lon) * np.cos(self.init_lat) * GPS.earth_r
-    ys = (lat - self.init_lat) * GPS.earth_r
-
-    return xs, ys
-
-  # Convert meters into decimal degrees
-  def convert_m2deg(self, xs, ys):
-    lat = ys / GPS.earth_r + self.init_lat
-    lon = xs / (GPS.earth_r * np.cos(self.init_lat)) + self.init_lon
-
-    return np.degrees(lat), np.degrees(lon)
-
-  # latlon is [lat, long,] as decimal degrees
-  # accuracy is as given by Android location service: radius of 68% confidence
-  def read(self, latlon, accuracy=None):
-    x_dist, y_dist = self.convert_deg2m(latlon[0], latlon[1])
-    if not accuracy:
-      covar = self.covar
-    else:
-      covar = np.matlib.identity(2) * accuracy**2
-
-    return SensorReading(
-      np.asmatrix([x_dist, y_dist]).T, covar, self.obs_model)
 
 class EKF:
   __metaclass__ = abc.ABCMeta
@@ -224,7 +174,7 @@ class EKF:
 
     #! Clip covariance to avoid explosions
     self.covar = np.clip(self.covar,-1e10,1e10)
-
+    
   @abc.abstractmethod
   def calc_transfer_fun(self, dt):
     """Return a tuple with the transfer function and transfer function jacobian

common/logging_extra.py

@@ -8,6 +8,18 @@ from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 
+def json_handler(obj):
+  # if isinstance(obj, (datetime.date, datetime.time)):
+  #   return obj.isoformat()
+  return repr(obj)
+
+def json_robust_dumps(obj):
+  return json.dumps(obj, default=json_handler)
+
+class NiceOrderedDict(OrderedDict):
+  def __str__(self):
+    return '{'+', '.join("%r: %r" % p for p in self.iteritems())+'}'
+
 class SwagFormatter(logging.Formatter):
   def __init__(self, swaglogger):
     logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
@@ -15,13 +27,8 @@ class SwagFormatter(logging.Formatter):
     self.swaglogger = swaglogger
     self.host = socket.gethostname()
 
-  def json_handler(self, obj):
-    # if isinstance(obj, (datetime.date, datetime.time)):
-    #   return obj.isoformat()
-    return repr(obj)
-
-  def format(self, record):
-    record_dict = OrderedDict()
+  def format_dict(self, record):
+    record_dict = NiceOrderedDict()
 
     if isinstance(record.msg, dict):
       record_dict['msg'] = record.msg
@@ -50,9 +57,10 @@ class SwagFormatter(logging.Formatter):
     record_dict['threadName'] = record.threadName
     record_dict['created'] = record.created
 
-    # asctime = self.formatTime(record, self.datefmt)
+    return record_dict
 
-    return json.dumps(record_dict, default=self.json_handler)
+  def format(self, record):
+    return json_robust_dumps(self.format_dict(record))
 
 _tmpfunc = lambda: 0
 _srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
@@ -115,7 +123,7 @@ class SwagLogger(logging.Logger):
     self.global_ctx.update(kwargs)
 
   def event(self, event_name, *args, **kwargs):
-    evt = OrderedDict()
+    evt = NiceOrderedDict()
     evt['event'] = event_name
     if args:
       evt['args'] = args

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,

common/realtime.py

@@ -1,43 +1,53 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
+import os
 import time
 import ctypes
 import platform
+import threading
 import subprocess
 import multiprocessing
-import os
 
-from ctypes.util import find_library
+from cffi import FFI
+ffi = FFI()
+ffi.cdef("""
+
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
+
+long syscall(long number, ...);
+
+"""
+)
+libc = ffi.dlopen(None)
 
 
-CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
 CLOCK_BOOTTIME = 7
 
-class timespec(ctypes.Structure):
-  _fields_ = [
-    ('tv_sec', ctypes.c_long),
-    ('tv_nsec', ctypes.c_long),
-  ]
+if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
+  c_clock_gettime = libc.clock_gettime
 
-libc_name = find_library('c')
-libc = ctypes.CDLL(libc_name, use_errno=True)
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')
 
-if hasattr(libc, 'clock_gettime'):
-  libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
-  has_clock_gettime = True
+    ts = tlocal.ts
+
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
 else:
-  has_clock_gettime = False
-
-def clock_gettime(clk_id):
-  if not has_clock_gettime:
-    # hack. only for OS X < 10.12
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
     return time.time()
 
-  t = timespec()
-  if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
-    errno_ = ctypes.get_errno()
-    raise OSError(errno_, os.strerror(errno_))
-  return t.tv_sec + t.tv_nsec * 1e-9
-
 def monotonic_time():
   return clock_gettime(CLOCK_MONOTONIC_RAW)
 
@@ -96,3 +106,6 @@ class Ratekeeper(object):
     self._frame += 1
     self._remaining = remaining
     return lagged
+
+if __name__ == "__main__":
+  print sec_since_boot()

common/testing.py

@@ -0,0 +1,9 @@
+import os
+from nose.tools import nottest
+
+def phone_only(x):
+  if os.path.isfile("/init.qcom.rc"):
+    return x
+  else:
+    return nottest(x)
+

dbcs/__init__.py

@@ -1,2 +0,0 @@
-import os
-DBC_PATH = os.path.dirname(os.path.abspath(__file__))

dbcs/acura_ilx_2016_can.dbc

@@ -1,324 +0,0 @@
-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_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX
-
-
-BO_ 57 XXX_1: 3 XXX
-
-BO_ 145 XXX_2: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- 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 : 31|8@0+ (1,0) [0|0] ""  EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  EPS
-
-BO_ 304 GAS_PEDAL2: 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
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 342 STEERING_SENSORS: 6 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_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_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_ XMISSION_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_ 398 XXX_3: 3 XXX
-
-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_ 419 GEARBOX: 8 PCM
- SG_ GEAR : 7|8@0+ (1,0) [0|256] ""  NEO
- SG_ GEAR_SHIFTER : 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,-1.609375) [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_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 428 XXX_4: 8 XXX
-
-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_ 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_ 476 XXX_5: 4 XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] ""  EBCM
- 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH4 : 31|8@0+ (1,0) [0|1] ""  EBCM
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH5 : 38|7@0+ (1,0) [0|1] ""  EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
- SG_ CRUISE_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
- SG_ FCW : 43|2@0+ (1,0) [0|3] ""  EBCM
- SG_ CRUISE_BOH7 : 41|10@0+ (1,0) [0|0] ""  EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
-
-BO_ 512 GAS_COMMAND: 3 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] ""  INTERCEPTOR
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] ""  NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] ""  NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 542 XXX_6: 7 XXX
-
-BO_ 545 XXX_7: 4 XXX
-
-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_ 660 SCM_COMMANDS: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  NEO
-
-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 XXX_8: 8 XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
- SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
- SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] ""  BDY
- 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_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
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] ""  BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] ""  BDY
- 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_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 800 XXX_9: 8 XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
- SG_ CRUISE_SPEED_PCM : 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_ 808 XXX_10: 8 XXX
-
-BO_ 819 XXX_11: 7 XXX
-
-BO_ 821 XXX_12: 5 XXX
-
-BO_ 829 LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] ""  BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] ""  BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] ""  BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] ""  BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] ""  BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] ""  BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] ""  BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] ""  BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 882 XXX_13: 2 XXX
-
-BO_ 884 XXX_14: 7 XXX
-
-BO_ 887 XXX_15: 8 XXX
-
-BO_ 888 XXX_16: 8 XXX
-
-BO_ 892 XXX_17: 8 XXX
-
-BO_ 923 XXX_18: 2 XXX
-
-BO_ 929 XXX_19: 4 XXX
-
-BO_ 983 XXX_20: 8 XXX
-
-BO_ 985 XXX_21: 3 XXX
-
-BO_ 1024 XXX_22: 5 XXX
-
-BO_ 1027 XXX_23: 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_ 1030 XXX_24: 5 VSA
-
-BO_ 1034 XXX_25: 5 XXX
-
-BO_ 1036 XXX_26: 8 XXX
-
-BO_ 1039 XXX_27: 8 XXX
-
-BO_ 1057 XXX_28: 5 EPS
-
-BO_ 1064 XXX_29: 7 XXX
-
-BO_ 1108 XXX_30: 8 XXX
-
-BO_ 1365 XXX_31: 5 XXX
-
-BO_ 1600 XXX_32: 5 XXX
-
-BO_ 1601 XXX_33: 8 XXX
-
-BO_TX_BU_ 228 : NEO,ADAS;
-BO_TX_BU_ 506 : NEO,ADAS;
-BO_TX_BU_ 780 : NEO,ADAS;
-BO_TX_BU_ 829 : NEO,ADAS;
-
-
-CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-

dbcs/acura_ilx_2016_nidec.dbc

@@ -1,183 +0,0 @@
-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_: ADAS RADAR NEO XXX
-
-
-BO_ 768 VEHICLE_STATE: 8 ADAS
- SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX
-
-BO_ 769 VEHICLE_STATE2: 8 ADAS
- SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX
- SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX
-
-BO_ 1024 XXX_100: 8 RADAR
-
-BO_ 1040 XXX_101: 8 RADAR
-
-BO_ 1041 XXX_102: 8 RADAR
-
-BO_ 1042 XXX_103: 8 RADAR
-
-BO_ 1043 XXX_104: 8 RADAR
-
-BO_ 1044 XXX_105: 8 RADAR
-
-BO_ 1045 XXX_106: 8 RADAR
-
-BO_ 1046 XXX_107: 8 RADAR
-
-BO_ 1047 XXX_108: 8 RADAR
-
-BO_ 1056 XXX_109: 8 RADAR
-
-BO_ 1057 XXX_110: 8 RADAR
-
-BO_ 1058 XXX_111: 8 RADAR
-
-BO_ 1059 XXX_112: 8 RADAR
-
-BO_ 1060 XXX_113: 8 RADAR
-
-BO_ 1072 TRACK_0: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1073 TRACK_1: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1074 TRACK_2: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1075 TRACK_3: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1076 TRACK_4: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1077 TRACK_5: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1078 TRACK_6: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1079 TRACK_7: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1080 TRACK_8: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1081 TRACK_9: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1088 TRACK_10: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1089 TRACK_11: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1090 TRACK_12: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1091 TRACK_13: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1092 TRACK_14: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1093 TRACK_15: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1279 XXX_114: 8 RADAR
-
-BO_ 1280 XXX_115: 8 RADAR
-
-BO_ 1296 XXX_116: 8 RADAR
-
-BO_ 1297 XXX_117: 8 RADAR
-
-BO_TX_BU_ 768 : NEO,ADAS;
-BO_TX_BU_ 769 : NEO,ADAS;
-
-
-

dbcs/honda_accord_touring_2016_can.dbc

@@ -1,305 +0,0 @@
-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_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
-
-
-BO_ 57 XXX_1: 3 XXX
-
-BO_ 342 STEERING_SENSORS: 6 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_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_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_ XMISSION_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_ 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,-1.609375) [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_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 427 XXX_3: 3 VSA
-
-BO_ 428 XXX_4: 8 XXX
-
-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_ 450 XXX_5: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
-
-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_ 470 XXX_6: 2 VSA
-
-BO_ 476 XXX_7: 7 XXX
-
-BO_ 487 XXX_8: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] ""  NEO
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] ""  NEO
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
-
-BO_ 493 XXX_9: 5 VSA
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] ""  EBCM
- 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] ""  EBCM
- 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|1@0+ (1,0) [0|3] ""  EBCM
- SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] ""  EBCM
- SG_ FCW2 : 40|1@0+ (1,0) [0|0] ""  EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] ""  EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
-
-BO_ 512 GAS_COMMAND: 3 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 545 XXX_10: 6 XXX
-
-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_ 660 SCM_COMMANDS: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  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
-
-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 XXX_11: 8 XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
- SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
- SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] ""  BDY
- 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_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
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] ""  BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] ""  BDY
- 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_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 795 XXX_12: 8 XXX
-
-BO_ 800 XXX_13: 8 XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
- SG_ CRUISE_SPEED_PCM : 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_ 808 XXX_14: 8 XXX
-
-BO_ 829 LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] ""  BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] ""  BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] ""  BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] ""  BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] ""  BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] ""  BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] ""  BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] ""  BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 862 XXX_15: 8 ADAS
- SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
-
-BO_ 884 XXX_16: 8 XXX
-
-BO_ 891 XXX_17: 8 XXX
-
-BO_ 892 XXX_18: 8 XXX
-
-BO_ 927 XXX_19: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] ""  BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] ""  BDY
- SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] ""  BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] ""  BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] ""  BDY
-
-BO_ 929 XXX_20: 8 XXX
-
-BO_ 985 XXX_21: 3 XXX
-
-BO_ 1024 XXX_22: 5 XXX
-
-BO_ 1027 XXX_23: 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_24: 8 XXX
-
-BO_ 1039 XXX_25: 8 XXX
-
-BO_ 1108 XXX_26: 8 XXX
-
-BO_ 1302 XXX_27: 8 XXX
-
-BO_ 1322 XXX_28: 5 XXX
-
-BO_ 1361 XXX_29: 5 XXX
-
-BO_ 1365 XXX_30: 5 XXX
-
-BO_ 1424 XXX_31: 5 XXX
-
-BO_ 1600 XXX_32: 5 XXX
-
-BO_ 1601 XXX_33: 8 XXX
-
-BO_ 1633 XXX_34: 8 XXX
-
-BO_TX_BU_ 228 : NEO,ADAS;
-BO_TX_BU_ 506 : NEO,ADAS;
-BO_TX_BU_ 780 : NEO,ADAS;
-BO_TX_BU_ 829 : NEO,ADAS;
-BO_TX_BU_ 862 : NEO,ADAS;
-BO_TX_BU_ 927 : NEO,ADAS;
-

dbcs/honda_civic_touring_2016_can.dbc

@@ -1,343 +0,0 @@
-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_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
-
-
-BO_ 57 XXX_1: 3 XXX
-
-BO_ 148 XXX_2: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
- SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2"  NEO
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- 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_ 304 GAS_PEDAL2: 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
-
-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_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_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_ XMISSION_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,-1.609375) [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_3: 3 VSA
-
-BO_ 428 XXX_4: 8 XXX
-
-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_ 450 XXX_5: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
-
-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_ 470 XXX_6: 2 VSA
-
-BO_ 476 XXX_7: 7 XXX
-
-BO_ 487 XXX_8: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] ""  NEO
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] ""  NEO
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
-
-BO_ 493 XXX_9: 5 VSA
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] ""  EBCM
- 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] ""  EBCM
- 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|1@0+ (1,0) [0|3] ""  EBCM
- SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] ""  EBCM
- SG_ FCW2 : 40|1@0+ (1,0) [0|0] ""  EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] ""  EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
-
-BO_ 512 GAS_COMMAND: 3 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 545 XXX_10: 6 XXX
-
-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
-
-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 XXX_11: 8 XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s"  BDY
- SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
- SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] ""  BDY
- 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_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
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] ""  BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] ""  BDY
- 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_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 795 XXX_12: 8 XXX
-
-BO_ 800 XXX_13: 8 XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
- SG_ CRUISE_SPEED_PCM : 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
-
-BO_ 808 XXX_14: 8 XXX
-
-BO_ 829 LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] ""  BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] ""  BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] ""  BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] ""  BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] ""  BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] ""  BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] ""  BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] ""  BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 862 XXX_15: 8 ADAS
- SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
-
-BO_ 884 XXX_16: 8 XXX
-
-BO_ 891 XXX_17: 8 XXX
-
-BO_ 892 XXX_18: 8 XXX
-
-BO_ 927 XXX_19: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] ""  BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] ""  BDY
- SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] ""  BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] ""  BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] ""  BDY
-
-BO_ 929 XXX_20: 8 XXX
-
-BO_ 985 XXX_21: 3 XXX
-
-BO_ 1024 XXX_22: 5 XXX
-
-BO_ 1027 XXX_23: 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_24: 8 XXX
-
-BO_ 1039 XXX_25: 8 XXX
-
-BO_ 1108 XXX_26: 8 XXX
-
-BO_ 1302 XXX_27: 8 XXX
-
-BO_ 1322 XXX_28: 5 XXX
-
-BO_ 1361 XXX_29: 5 XXX
-
-BO_ 1365 XXX_30: 5 XXX
-
-BO_ 1424 XXX_31: 5 XXX
-
-BO_ 1600 XXX_32: 5 XXX
-
-BO_ 1601 XXX_33: 8 XXX
-
-BO_ 1633 XXX_34: 8 XXX
-
-BO_TX_BU_ 228 : NEO,ADAS;
-BO_TX_BU_ 506 : NEO,ADAS;
-BO_TX_BU_ 780 : NEO,ADAS;
-BO_TX_BU_ 829 : NEO,ADAS;
-BO_TX_BU_ 862 : NEO,ADAS;
-BO_TX_BU_ 927 : NEO,ADAS;
-
-
-CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-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_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
-

dbcs/tesla_can.dbc

@@ -1,405 +0,0 @@
-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_:
-    NEO
-    MCU
-    GTW
-    EPAS
-    DI
-    ESP
-    SBW
-    STW
-
-VAL_TABLE_ StW_AnglHP_Spd 16383 "SNA" ;
-VAL_TABLE_ DI_aebFaultReason 15 "DI_AEB_FAULT_DAS_REQ_DI_UNAVAIL" 14 "DI_AEB_FAULT_ACCEL_REQ_INVALID" 13 "DI_AEB_FAULT_MIN_TIME_BTWN_EVENTS" 12 "DI_AEB_FAULT_ESP_MIA" 11 "DI_AEB_FAULT_ESP_FAULT" 10 "DI_AEB_FAULT_EPB_NOT_PARKED" 9 "DI_AEB_FAULT_ACCEL_OUT_OF_BOUNDS" 8 "DI_AEB_FAULT_PM_REQUEST" 7 "DI_AEB_FAULT_VEL_EST_ABNORMAL" 6 "DI_AEB_FAULT_DAS_SNA" 5 "DI_AEB_FAULT_DAS_CONTROL_MIA" 4 "DI_AEB_FAULT_SPEED_DELTA" 3 "DI_AEB_FAULT_EBR_FAULT" 2 "DI_AEB_FAULT_PM_MIA" 1 "DI_AEB_FAULT_EPB_MIA" 0 "DI_AEB_FAULT_NONE" ;
-VAL_TABLE_ DI_aebLockState 3 "AEB_LOCK_STATE_SNA" 2 "AEB_LOCK_STATE_UNUSED" 1 "AEB_LOCK_STATE_UNLOCKED" 0 "AEB_LOCK_STATE_LOCKED" ;
-VAL_TABLE_ DI_aebSmState 7 "DI_AEB_STATE_FAULT" 6 "DI_AEB_STATE_EXIT" 5 "DI_AEB_STATE_STANDSTILL" 4 "DI_AEB_STATE_STOPPING" 3 "DI_AEB_STATE_ENABLE" 2 "DI_AEB_STATE_ENABLE_INIT" 1 "DI_AEB_STATE_STANDBY" 0 "DI_AEB_STATE_UNAVAILABLE" ;
-VAL_TABLE_ DI_aebState 7 "AEB_CAN_STATE_SNA" 4 "AEB_CAN_STATE_FAULT" 3 "AEB_CAN_STATE_STANDSTILL" 2 "AEB_CAN_STATE_ENABLED" 1 "AEB_CAN_STATE_STANDBY" 0 "AEB_CAN_STATE_UNAVAILABLE" ;
-VAL_TABLE_ DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
-VAL_TABLE_ DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
-VAL_TABLE_ DI_gpoReason 8 "DI_GPO_NUMREASONS" 7 "DI_GPO_CAPACITOR_OVERTEMP" 6 "DI_GPO_NOT_ENOUGH_12V" 5 "DI_GPO_NO_BATTERY_POWER" 4 "DI_GPO_AMBIENT_OVERTEMP" 3 "DI_GPO_FLUID_DELTAT" 2 "DI_GPO_STATOR_OVERTEMP" 1 "DI_GPO_HEATSINK_OVERTEMP" 0 "DI_GPO_OUTLET_OVERTEMP" ;
-VAL_TABLE_ DI_immobilizerCondition 1 "DI_IMM_CONDITION_LEARNED" 0 "DI_IMM_CONDITION_VIRGIN_SNA" ;
-VAL_TABLE_ DI_immobilizerState 7 "DI_IMM_STATE_FAULT" 6 "DI_IMM_STATE_FAULTRETRY" 5 "DI_IMM_STATE_RESET" 4 "DI_IMM_STATE_LEARN" 3 "DI_IMM_STATE_DISARMED" 2 "DI_IMM_STATE_AUTHENTICATING" 1 "DI_IMM_STATE_REQUEST" 0 "DI_IMM_STATE_INIT_SNA" ;
-VAL_TABLE_ DI_limpReason 24 "DI_LIMP_NUMREASONS" 23 "DI_LIMP_CAPACITOR_OVERTEMP" 22 "DI_LIMP_GTW_MIA" 21 "DI_LIMP_TRQCMD_VALIDITY_UNKNOWN" 20 "DI_LIMP_DI_MIA" 19 "DI_LIMP_CONFIG_MISMATCH" 18 "DI_LIMP_HEATSINK_TEMP" 17 "DI_LIMP_PMREQUEST" 16 "DI_LIMP_PMHEARTBEAT" 15 "DI_LIMP_TRQ_CROSS_CHECK" 14 "DI_LIMP_EXTERNAL_COMMAND" 13 "DI_LIMP_WRONG_CS_CALIBRATION" 12 "DI_LIMP_STATOR_TEMP" 11 "DI_LIMP_DELTAT_TOO_NEGATIVE" 10 "DI_LIMP_DELTAT_TOO_POSITIVE" 9 "DI_LIMP_AMBIENT_TEMP" 8 "DI_LIMP_OUTLET_TEMP" 7 "DI_LIMP_LOW_FLOW" 6 "DI_LIMP_BMS_MIA" 5 "DI_LIMP_12V_SUPPLY_UNDERVOLTAGE" 4 "DI_LIMP_NO_FLUID" 3 "DI_LIMP_NO_FUNC_HEATSINK_SENSOR" 2 "DI_LIMP_NO_FUNC_STATORT_SENSOR" 1 "DI_LIMP_BUSV_SENSOR_IRRATIONAL" 0 "DI_LIMP_PHASE_IMBALANCE" ;
-VAL_TABLE_ DI_mode 2 "DI_MODE_DYNO" 1 "DI_MODE_DRIVE" 0 "DI_MODE_UNDEF" ;
-VAL_TABLE_ DI_motorType 14 "DI_MOTOR_F2AE" 13 "DI_MOTOR_F2AD" 12 "DI_MOTOR_F2AC" 11 "DI_MOTOR_F2AB" 10 "DI_MOTOR_F1AC" 9 "DI_MOTOR_SSR1A" 8 "DI_MOTOR_F1A" 7 "DI_MOTOR_M7M6" 6 "DI_MOTOR_M8A" 5 "DI_MOTOR_M7M5" 4 "DI_MOTOR_M7M4" 3 "DI_MOTOR_M7M3" 2 "DI_MOTOR_ROADSTER_SPORT" 1 "DI_MOTOR_ROADSTER_BASE" 0 "DI_MOTOR_SNA" ;
-VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ;
-VAL_TABLE_ DI_state 4 "DI_STATE_ENABLE" 3 "DI_STATE_FAULT" 2 "DI_STATE_CLEAR_FAULT" 1 "DI_STATE_STANDBY" 0 "DI_STATE_PREAUTH" ;
-VAL_TABLE_ DI_velocityEstimatorState 4 "VE_STATE_BACKUP_MOTOR" 3 "VE_STATE_BACKUP_WHEELS_B" 2 "VE_STATE_BACKUP_WHEELS_A" 1 "VE_STATE_WHEELS_NORMAL" 0 "VE_STATE_NOT_INITIALIZED" ;
-
-
-BO_ 1160 DAS_steeringControl: 4 NEO
- SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|0] "" EPAS
- SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|0] "" EPAS
- SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|0] "" EPAS
- SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS
- SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS
- 
-BO_ 257 GTW_epasControl: 3 NEO
- SG_ GTW_epasControlChecksum : 16|8@1+ (1,0) [0|255] "" NEO
- SG_ GTW_epasControlCounter : 12|4@1+ (1,0) [0|15] "" NEO
- SG_ GTW_epasControlType : 8|2@1+ (1,0) [4|-1] "" NEO
- SG_ GTW_epasEmergencyOn : 0|1@1+ (1,0) [2|-1] "" NEO
- SG_ GTW_epasLDWEnabled : 11|1@1+ (1,0) [2|-1] "" NEO
- SG_ GTW_epasPowerMode : 1|4@1+ (1,0) [4|14] "" NEO
- SG_ GTW_epasTuneRequest : 5|3@1+ (1,0) [8|-1] "" NEO
-
-BO_ 880 EPAS_sysStatus: 8 EPAS
- SG_ EPAS_currentTuneMode : 0|4@1+ (1,0) [8|15] "" NEO
- SG_ EPAS_eacErrorCode : 16|4@1+ (1,0) [16|-1] "" NEO
- SG_ EPAS_eacStatus : 48|3@1+ (1,0) [5|7] "" NEO
- SG_ EPAS_handsOnLevel : 32|2@1+ (1,0) [4|-1] "" NEO
- SG_ EPAS_internalSAS : 37|14@0+ (0.10,-819.200010) [0|0] "deg" NEO
- SG_ EPAS_steeringFault : 5|1@1+ (1,0) [2|-1] "" NEO
- SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO
- SG_ EPAS_steeringReduced : 4|1@1+ (1,0) [2|-1] "" NEO
- SG_ EPAS_sysStatusChecksum : 56|8@1+ (1,0) [0|255] "" NEO
- SG_ EPAS_sysStatusCounter : 52|4@1+ (1,0) [0|15] "" NEO
- SG_ EPAS_torsionBarTorque : 19|12@0+ (0.010,-20.50) [0|0] "Nm" NEO
-
-BO_ 3 STW_ANGL_STAT: 8 STW
- SG_ CRC_STW_ANGL_STAT : 56|8@1+ (1,0) [0|255] "" NEO
- SG_ MC_STW_ANGL_STAT : 52|4@1+ (1,0) [0|15] "" NEO
- SG_ StW_Angl : 5|14@0+ (0.50,-2048) [0|0] "deg" NEO
- SG_ StW_AnglSens_Id : 36|2@1+ (1,0) [3|3] "" NEO
- SG_ StW_AnglSens_Stat : 38|2@1+ (1,0) [4|-1] "" NEO
- SG_ StW_AnglSpd : 21|14@0+ (0.50,-2048) [0|0] "/s" NEO
-
-BO_ 14 STW_ANGLHP_STAT: 8 GTW
- SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO
- SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s" NEO
- SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] "" NEO
- SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] "" NEO
- SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] "" NEO
- SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] "" NEO
-
-BO_ 264 DI_torque1: 8 DI
- SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO
- SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO
- SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO
- SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO
- SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO
- SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO
- SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO
-
-BO_ 280 DI_torque2: 6 DI
- SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
- SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO
- SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO
- SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO
- SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO
- SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO
- SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO
- SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO
- SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
- SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
- SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
- 
-BO_ 309 ESP_135h: 5 ESP
- SG_ ESP_135hChecksum : 16|8@1+ (1,0) [0|255] "" NEO
- SG_ ESP_135hCounter : 12|4@1+ (1,0) [0|15] "" NEO
- SG_ ESP_absBrakeEvent : 5|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_brakeDiscWipingActive : 3|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_brakeLamp : 4|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_espFaultLamp : 1|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_espLampFlash : 0|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_hillStartAssistActive : 6|2@1+ (1,0) [4|-1] "" NEO
- SG_ ESP_messagePumpService : 31|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_messagePumpFailure : 30|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_messageEBDFailure : 29|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_absFaultLamp : 28|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_tcDisabledByFault : 27|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_messageDynoModeActive : 26|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_hydraulicBoostEnabled : 25|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_espOffLamp : 24|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_stabilityControlSts : 9|3@1+ (1,0) [6|7] "" NEO
- SG_ ESP_tcLampFlash : 2|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_tcOffLamp : 8|1@1+ (1,0) [0|1] "" NEO
-
-BO_ 792 GTW_carState: 8 GTW
- SG_ BOOT_STATE : 40|2@1+ (1,0) [4|-1] "" NEO
- SG_ CERRD : 0|1@1+ (1,0) [2|-1] "" NEO
- SG_ DAY : 35|5@1+ (1,0) [2|31] "" NEO
- SG_ DOOR_STATE_FL : 10|2@1+ (1,0) [4|-1] "" NEO
- SG_ DOOR_STATE_FR : 8|2@1+ (1,0) [4|-1] "" NEO
- SG_ DOOR_STATE_FrontTrunk : 52|2@1+ (1,0) [4|-1] "" NEO
- SG_ DOOR_STATE_RL : 16|2@1+ (1,0) [4|-1] "" NEO
- SG_ DOOR_STATE_RR : 25|2@1+ (1,0) [4|-1] "" NEO
- SG_ GTW_updateInProgress : 54|2@1+ (1,0) [4|-1] "" NEO
- SG_ Hour : 27|5@1+ (1,0) [0|29] "h" NEO
- SG_ MCU_factoryMode : 51|1@1+ (1,0) [2|-1] "" NEO
- SG_ MCU_transportModeOn : 50|1@1+ (1,0) [1|1] "" NEO
- SG_ MINUTE : 42|6@1+ (1,0) [0|61] "min" NEO
- SG_ MONTH : 12|4@1+ (1,0) [0|14] "Month" NEO
- SG_ SECOND : 18|6@1+ (1,0) [0|61] "s" NEO
- SG_ YEAR : 1|7@1+ (1,2000) [2000|2125] "Year" NEO
- 
-BO_ 872 DI_state: 8 DI
- SG_ DI_aebState : 44|3@1+ (1,0) [5|6] "" NEO
- SG_ DI_analogSpeed : 20|12@1+ (0.10,0) [0|409.40] "speed" NEO
- SG_ DI_cruiseSet : 39|9@1+ (0.50,0) [0|255.50] "speed" NEO
- SG_ DI_cruiseState : 8|4@1+ (1,0) [8|15] "" NEO
- SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|254] "" NEO
- SG_ DI_driveReady : 0|1@1+ (1,0) [0|1] "" NEO
- SG_ DI_immobilizerState : 25|3@1+ (1,0) [7|7] "" NEO
- SG_ DI_proximity : 1|1@1+ (1,0) [0|1] "" NEO
- SG_ DI_regenLight : 15|1@1+ (1,0) [0|1] "" NEO
- SG_ DI_speedUnits : 24|1@1+ (1,0) [2|-1] "" NEO
- SG_ DI_state : 12|3@1+ (1,0) [5|7] "" NEO
- SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|255] "" NEO
- SG_ DI_stateCounter : 40|4@1+ (1,0) [0|15] "" NEO
- SG_ DI_systemState : 5|3@1+ (1,0) [5|7] "" NEO
- SG_ DI_vehicleHoldState : 2|3@1+ (1,0) [8|-1] "" NEO
-
-BO_ 109 SBW_RQ_SCCM: 4 STW
- SG_ StW_Sw_Stat3 : 0|3@1+ (1,0) [0|0] "" NEO
- SG_ MsgTxmtId : 6|2@1+ (1,0) [0|0] "" NEO
- SG_ TSL_RND_Posn_StW : 8|4@1+ (1,0) [0|0] "" NEO
- SG_ TSL_P_Psd_StW : 12|2@1+ (1,0) [0|0] "" NEO
- SG_ MC_SBW_RQ_SCCM : 20|4@1+ (1,0) [0|15] "" NEO
- SG_ CRC_SBW_RQ_SCCM : 24|8@1+ (1,0) [0|0] "" NEO
-
-BO_ 69 STW_ACTN_RQ: 8 STW
- SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO
- SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO
- SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO
- SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO
- SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO
- SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO
- SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO
- SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO
- SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO
- SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO
- SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO
- SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO
- SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
- SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
- SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
- 
-BO_ 643 BODY_R1: 8 GTW
- SG_ AirTemp_Insd : 40|8@1+ (0.25,0) [0|63.5] "C" NEO
- SG_ AirTemp_Outsd : 56|8@1+ (0.5,-40) [-40|86.5] "C" NEO
- SG_ Bckl_Sw_RL_Stat_SAM_R : 54|2@1+ (1,0) [4|-1] "" NEO
- SG_ Bckl_Sw_RM_Stat_SAM_R : 50|2@1+ (1,0) [4|-1] "" NEO
- SG_ Bckl_Sw_RR_Stat_SAM_R : 52|2@1+ (1,0) [4|-1] "" NEO
- SG_ DL_RLtch_Stat : 14|2@1+ (1,0) [4|-1] "" NEO
- SG_ DrRLtch_FL_Stat : 6|2@1+ (1,0) [4|-1] "" NEO
- SG_ DrRLtch_FR_Stat : 4|2@1+ (1,0) [4|-1] "" NEO
- SG_ DrRLtch_RL_Stat : 2|2@1+ (1,0) [4|-1] "" NEO
- SG_ DrRLtch_RR_Stat : 0|2@1+ (1,0) [4|-1] "" NEO
- SG_ EngHd_Stat : 12|2@1+ (1,0) [4|-1] "" NEO
- SG_ LoBm_On_Rq : 39|1@1+ (1,0) [0|1] "" NEO
- SG_ HiBm_On : 38|1@1+ (1,0) [0|1] "" NEO
- SG_ Hrn_On : 29|1@1+ (1,0) [0|1] "" NEO
- SG_ IrLmp_D_Lt_Flt : 37|1@1+ (1,0) [0|1] "" NEO
- SG_ IrLmp_P_Rt_Flt : 36|1@1+ (1,0) [0|1] "" NEO
- SG_ LgtSens_Twlgt : 21|3@1+ (1,0) [0|7] "Steps" NEO
- SG_ LgtSens_SNA : 20|1@1+ (1,0) [0|1] "" NEO
- SG_ LgtSens_Tunnel : 19|1@1+ (1,0) [0|1] "" NEO
- SG_ LgtSens_Flt : 18|1@1+ (1,0) [0|1] "" NEO
- SG_ LgtSens_Night : 17|1@1+ (1,0) [2|-1] "" NEO
- SG_ ADL_LoBm_On_Rq : 16|1@1+ (1,0) [0|1] "" NEO
- SG_ LoBm_D_Lt_Flt : 35|1@1+ (1,0) [0|1] "" NEO
- SG_ LoBm_P_Rt_Flt : 34|1@1+ (1,0) [0|1] "" NEO
- SG_ MPkBrk_Stat : 27|1@1+ (1,0) [2|-1] "" NEO
- SG_ RevGr_Engg : 32|2@1+ (1,0) [4|-1] "" NEO
- SG_ StW_Cond_Stat : 48|2@1+ (1,0) [4|-1] "" NEO
- SG_ Term54_Actv : 28|1@1+ (1,0) [0|1] "" NEO
- SG_ Trlr_Stat : 30|2@1+ (1,0) [4|-1] "" NEO
- SG_ VTA_Alm_Actv : 10|1@1+ (1,0) [0|1] "" NEO
- SG_ WprOutsdPkPosn : 26|1@1+ (1,0) [0|1] "" NEO
-
-BO_ 760 MCU_gpsVehicleSpeed: 8 MCU
- SG_ MCU_gpsHDOP : 0|8@1+ (0.10,0) [0|25.50] "1" NEO
- SG_ MCU_gpsVehicleHeading : 8|16@1+ (0.007810,0) [0|511.828350] "deg" NEO
- SG_ MCU_gpsVehicleSpeed : 24|16@1+ (0.003910,0) [0|256.241850] "km/hr" NEO
- SG_ MCU_mppSpeedLimit : 51|5@1+ (5,0) [0|155] "kph/mph" NEO
- SG_ MCU_speedLimitUnits : 41|1@1+ (1,0) [2|-1] "" NEO
- SG_ MCU_userSpeedOffset : 42|6@1+ (1,-30) [-30|33] "kph/mph" NEO
- SG_ MCU_userSpeedOffsetUnits : 40|1@1+ (1,0) [2|-1] "" NEO
-
-BO_ 904 MCU_clusterBacklightRequest: 3 NEO
- SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO
- SG_ MCU_clusterBrightnessLevel : 8|8@1+ (0.5,0) [0|127.5] "%" NEO
- SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [2|-1] "" NEO
- SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO
-
-BO_ 984 MCU_locationStatus: 8 MCU
- SG_ MCU_gpsAccuracy : 56|7@1+ (0.200000003,0) [0|25.200000378] "m" NEO
- SG_ MCU_latitude : 0|28@1- (0.000001,0) [-134.21772759734682|134.21772659734683] "deg" NEO
- SG_ MCU_longitude : 28|28@1- (0.000001,0) [-268.43545519469365|268.43545419469365] "deg" NEO
-
-BO_ 840 GTW_status: 8 GTW
- SG_ GTW_accGoingDown : 1|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_accRailReq : 15|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_brakePressed : 6|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_driveGoingDown : 0|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_driveRailReq : 7|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_driverIsLeaving : 2|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_driverPresent : 5|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_hvacGoingDown : 12|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_hvacRailReq : 14|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_icPowerOff : 3|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_notEnough12VForDrive : 4|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_preconditionRequest : 13|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_statusChecksum : 56|8@1+ (1,0) [0|255] "" NEO
- SG_ GTW_statusCounter : 52|4@1+ (1,0) [0|15] "" NEO
-
-VAL_ 3 StW_Angl 16383 "SNA" ;
-VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
-VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ;
-VAL_ 3 StW_AnglSpd 16383 "SNA" ;
-VAL_ 14 StW_AnglHP 16383 "SNA" ;
-VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
-VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
-VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
-VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
-VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
-VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
-VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
-VAL_ 69 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
-VAL_ 69 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
-VAL_ 69 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
-VAL_ 69 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
-VAL_ 69 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
-VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
-VAL_ 69 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
-VAL_ 69 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
-VAL_ 69 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
-VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ;
-VAL_ 109 StW_Sw_Stat3 7 "SNA" 6 "NDEF6" 5 "NDEF5" 4 "NDEF4" 3 "PLUS_MINUS" 2 "MINUS" 1 "PLUS" 0 "NPSD" ;
-VAL_ 109 MsgTxmtId 3 "NDEF3" 2 "NDEF2" 1 "SCCM" 0 "EWM" ;
-VAL_ 109 TSL_RND_Posn_StW 15 "SNA" 8 "D" 6 "INI" 4 "N_DOWN" 2 "N_UP" 1 "R" 0 "IDLE" ;
-VAL_ 109 TSL_P_Psd_StW 3 "SNA" 2 "INI" 1 "PSD" 0 "IDLE" ;
-VAL_ 257 GTW_epasEmergencyOn 1 "EMERGENCY_POWER" 0 "NONE" ;
-VAL_ 257 GTW_epasLDWEnabled 1 "ALLOWED" 0 "INHIBITED" ;
-VAL_ 257 GTW_epasPowerMode 0 "DRIVE_OFF" 1 "DRIVE_ON" 3 "LOAD_SHED" 2 "SHUTTING_DOWN" 15 "SNA" ;
-VAL_ 257 GTW_epasTuneRequest 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "SNA" ;
-VAL_ 264 DI_torqueDriver -4096 "SNA" ;
-VAL_ 264 DI_torqueMotor -4096 "SNA" ;
-VAL_ 264 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ;
-VAL_ 264 DI_motorRPM -32768 "SNA" ;
-VAL_ 264 DI_pedalPos 255 "SNA" ;
-VAL_ 280 DI_torqueEstimate -2048 "SNA" ;
-VAL_ 280 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
-VAL_ 280 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
-VAL_ 280 DI_vehicleSpeed 4095 "SNA" ;
-VAL_ 280 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
-VAL_ 280 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
-VAL_ 280 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
-VAL_ 280 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
-VAL_ 280 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
-VAL_ 309 ESP_absBrakeEvent 1 "ACTIVE" 0 "NOT_ACTIVE" ;
-VAL_ 309 ESP_brakeDiscWipingActive 1 "ACTIVE" 0 "INACTIVE" ;
-VAL_ 309 ESP_brakeLamp 0 "OFF" 1 "ON" ;
-VAL_ 309 ESP_espFaultLamp 0 "OFF" 1 "ON" ;
-VAL_ 309 ESP_espLampFlash 1 "FLASH" 0 "OFF" ;
-VAL_ 309 ESP_hillStartAssistActive 1 "ACTIVE" 0 "INACTIVE" 2 "NOT_AVAILABLE" 3 "SNA" ;
-VAL_ 309 ESP_absFaultLamp 0 "OFF" 1 "ON" ;
-VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ;
-VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ;
-VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ;
-VAL_ 760 MCU_speedLimitUnits 1 "KPH" 0 "MPH" ;
-VAL_ 760 MCU_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ;
-VAL_ 643 AirTemp_Insd 255 "SNA" ;
-VAL_ 643 AirTemp_Outsd 254 "INIT" 255 "SNA" ;
-VAL_ 643 Bckl_Sw_RL_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
-VAL_ 643 Bckl_Sw_RM_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
-VAL_ 643 Bckl_Sw_RR_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
-VAL_ 643 DL_RLtch_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
-VAL_ 643 DrRLtch_FL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
-VAL_ 643 DrRLtch_FR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
-VAL_ 643 DrRLtch_RL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
-VAL_ 643 DrRLtch_RR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
-VAL_ 643 EngHd_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
-VAL_ 643 LgtSens_Night 0 "DAY" 1 "NIGHT" ;
-VAL_ 643 MPkBrk_Stat 1 "ENGG" 0 "RELS" ;
-VAL_ 643 RevGr_Engg 0 "DISENGG" 1 "ENGG" 2 "NDEF2" 3 "SNA" ;
-VAL_ 643 StW_Cond_Stat 3 "BLINK" 1 "NDEF1" 0 "OFF" 2 "ON" ;
-VAL_ 643 Trlr_Stat 2 "NDEF2" 0 "NONE" 1 "OK" 3 "SNA" ;
-VAL_ 792 BOOT_STATE 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
-VAL_ 792 CERRD 1 "CAN error detect" 0 "no Can error detected" ;
-VAL_ 792 DAY 1 "Init" 0 "SNA" ;
-VAL_ 792 DOOR_STATE_FL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
-VAL_ 792 DOOR_STATE_FR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
-VAL_ 792 DOOR_STATE_FrontTrunk 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
-VAL_ 792 DOOR_STATE_RL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
-VAL_ 792 DOOR_STATE_RR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
-VAL_ 792 GTW_updateInProgress 1 "IN_PROGRESS" 2 "IN_PROGRESS_NOT_USED" 3 "IN_PROGRESS_SNA" 0 "NOT_IN_PROGRESS" ;
-VAL_ 792 Hour 30 "Init" 31 "SNA" ;
-VAL_ 792 MCU_factoryMode 1 "FACTORY_MODE" 0 "NORMAL_MODE" ;
-VAL_ 792 MCU_transportModeOn 0 "NORMAL_MODE" ;
-VAL_ 792 MINUTE 62 "Init" 63 "SNA" ;
-VAL_ 792 MONTH 1 "Init" 15 "SNA" ;
-VAL_ 792 SECOND 62 "Init" 63 "SNA" ;
-VAL_ 792 YEAR 126 "Init" 127 "SNA" ;
-VAL_ 872 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
-VAL_ 872 DI_analogSpeed 4095 "SNA" ;
-VAL_ 872 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
-VAL_ 872 DI_digitalSpeed 255 "SNA" ;
-VAL_ 872 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
-VAL_ 872 DI_speedUnits 1 "KPH" 0 "MPH" ;
-VAL_ 872 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
-VAL_ 872 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
-VAL_ 872 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
-VAL_ 880 EPAS_currentTuneMode 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "UNAVAILABLE" ;
-VAL_ 880 EPAS_eacErrorCode 14 "EAC_ERROR_EPB_INHIBIT" 3 "EAC_ERROR_HANDS_ON" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 0 "EAC_ERROR_IDLE" 12 "EAC_ERROR_LOW_ASSIST" 2 "EAC_ERROR_MAX_SPEED" 1 "EAC_ERROR_MIN_SPEED" 13 "EAC_ERROR_PINION_VEL_DIFF" 4 "EAC_ERROR_TMP_FAULT" 5 "EAR_ERROR_MAX_STEER_DELTA" 15 "SNA" ;
-VAL_ 880 EPAS_eacStatus 2 "EAC_ACTIVE" 1 "EAC_AVAILABLE" 3 "EAC_FAULT" 0 "EAC_INHIBITED" 4 "SNA" ;
-VAL_ 880 EPAS_handsOnLevel 0 "0" 1 "1" 2 "2" 3 "3" ;
-VAL_ 880 EPAS_steeringFault 1 "FAULT" 0 "NO_FAULT" ;
-VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ;
-VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
-VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
-VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
-VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
-VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
-VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;

requirements_openpilot.txt

@@ -9,4 +9,6 @@ requests==2.10.0
 setproctitle==1.1.10
 simplejson==3.8.2
 pyyaml==3.12
+cffi==1.7.0
+enum34==1.1.1
 -e git+https://github.com/commaai/le_python.git#egg=Logentries

selfdrive/boardd/.gitignore

@@ -0,0 +1 @@
+boardd

selfdrive/boardd/boardd.cc

@@ -31,11 +31,16 @@ pthread_mutex_t usb_lock;
 
 bool spoofing_started = false;
 bool fake_send = false;
+bool loopback_can = false;
 
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
 
+#define SAFETY_NOOUTPUT  0x0000
+#define SAFETY_HONDA     0x0001
+#define SAFETY_ALLOUTPUT 0x1337
+
 bool usb_connect() {
   int err;
 
@@ -48,19 +53,36 @@ bool usb_connect() {
   err = libusb_claim_interface(dev_handle, 0);
   if (err != 0) { return false; }
 
+  if (loopback_can) {
+    libusb_control_transfer(dev_handle, 0xc0, 0xe5, 1, 0, NULL, 0, TIMEOUT);
+  }
+
   // power off ESP
   libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
-  
+
+  // forward CAN1 to CAN3...soon
+  //libusb_control_transfer(dev_handle, 0xc0, 0xdd, 1, 2, NULL, 0, TIMEOUT);
+
   // set UART modes for Honda Accord
-  for (int uart = 2; uart <= 3; uart++) {
+  /*for (int uart = 2; uart <= 3; uart++) {
     // 9600 baud
-    libusb_control_transfer(dev_handle, 0xc0, 0xe1, uart, 9600, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0x40, 0xe1, uart, 9600, NULL, 0, TIMEOUT);
     // even parity
-    libusb_control_transfer(dev_handle, 0xc0, 0xe2, uart, 1, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0x40, 0xe2, uart, 1, NULL, 0, TIMEOUT);
     // callback 1
-    libusb_control_transfer(dev_handle, 0xc0, 0xe3, uart, 1, NULL, 0, TIMEOUT);
+    libusb_control_transfer(dev_handle, 0x40, 0xe3, uart, 1, NULL, 0, TIMEOUT);
   }
 
+  // TODO: Boardd should be able to set the baud rate
+  int baud = 500000;
+  libusb_control_transfer(dev_handle, 0x40, 0xde, 0, 0,
+                          (unsigned char *)&baud, sizeof(baud), TIMEOUT); // CAN1
+  libusb_control_transfer(dev_handle, 0x40, 0xde, 1, 0,
+                          (unsigned char *)&baud, sizeof(baud), TIMEOUT); // CAN2*/
+
+  // TODO: Boardd should be able to be told which safety model to use
+  libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_HONDA, 0, NULL, 0, TIMEOUT);
+
   return true;
 }
 
@@ -87,7 +109,7 @@ void can_recv(void *s) {
 
   // do recv
   pthread_mutex_lock(&usb_lock);
- 
+
   do {
     err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
     if (err != 0) { handle_usb_issue(err, __func__); }
@@ -124,13 +146,13 @@ void can_recv(void *s) {
     canData[i].setBusTime(data[i*4+1] >> 16);
     int len = data[i*4+1]&0xF;
     canData[i].setDat(kj::arrayPtr((uint8_t*)&data[i*4+2], len));
-    canData[i].setSrc((data[i*4+1] >> 4) & 0xf);
+    canData[i].setSrc((data[i*4+1] >> 4) & 0xff);
   }
 
   // send to can
   auto words = capnp::messageToFlatArray(msg);
   auto bytes = words.asBytes();
-  zmq_send(s, bytes.begin(), bytes.size(), 0); 
+  zmq_send(s, bytes.begin(), bytes.size(), 0);
 }
 
 void can_health(void *s) {
@@ -178,7 +200,7 @@ void can_health(void *s) {
   // send to health
   auto words = capnp::messageToFlatArray(msg);
   auto bytes = words.asBytes();
-  zmq_send(s, bytes.begin(), bytes.size(), 0); 
+  zmq_send(s, bytes.begin(), bytes.size(), 0);
 }
 
 
@@ -313,6 +335,10 @@ int main() {
     fake_send = true;
   }
 
+  if(getenv("BOARDD_LOOPBACK")){
+    loopback_can = true;
+  }
+
   // init libusb
   err = libusb_init(&ctx);
   assert(err == 0);
@@ -354,4 +380,3 @@ int main() {
   libusb_close(dev_handle);
   libusb_exit(ctx);
 }
-

selfdrive/boardd/boardd.py

@@ -18,6 +18,10 @@ except Exception:
 
 # TODO: rewrite in C to save CPU
 
+SAFETY_NOOUTPUT = 0
+SAFETY_HONDA = 1
+SAFETY_ALLOUTPUT = 0x1337
+
 # *** serialization functions ***
 def can_list_to_can_capnp(can_msgs, msgtype='can'):
   dat = messaging.new_message()
@@ -85,6 +89,7 @@ def can_recv():
 
 def can_init():
   global handle, context
+  handle = None
   cloudlog.info("attempting can init")
 
   context = usb1.USBContext()
@@ -94,6 +99,7 @@ def can_init():
     if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
       handle = device.open()
       handle.claimInterface(0)
+      handle.controlWrite(0x40, 0xdc, SAFETY_HONDA, 0, b'')
 
   if handle is None:
     print "CAN NOT FOUND"
@@ -190,4 +196,3 @@ def main(gctx=None):
 
 if __name__ == "__main__":
   main()
-

selfdrive/can/Makefile

@@ -0,0 +1,72 @@
+CC = clang
+CXX = clang++
+
+PHONELIBS := ../../phonelibs
+
+UNAME_S := $(shell uname -s)
+UNAME_M := $(shell uname -m)
+
+WARN_FLAGS = -Werror=implicit-function-declaration \
+             -Werror=incompatible-pointer-types \
+             -Werror=int-conversion \
+             -Werror=return-type \
+             -Werror=format-extra-args \
+             -Wno-deprecated-declarations
+
+CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+
+ifeq ($(UNAME_S),Darwin)
+	CEREAL_LIBS := -L /usr/local/lib -lkj -lcapnp
+	ZMQ_LIBS = -L/usr/local/lib -lzmq
+else ifeq ($(OPTEST),1)
+	ZMQ_LIBS = -lzmq
+	CEREAL_LIBS = -lcapnp -lkj
+else ifeq ($(UNAME_M),x86_64)
+	EXTERNAL := ../../external
+	ZMQ_FLAGS = -I$(EXTERNAL)/zmq/include
+	ZMQ_LIBS = -L$(EXTERNAL)/zmq/lib -l:libzmq.a
+	CEREAL_CXXFLAGS := -I$(EXTERNAL)/capnp/include
+	CEREAL_LIBS := -L$(EXTERNAL)/capnp/lib -l:libcapnp.a -l:libkj.a
+else ifeq ($(UNAME_M),aarch64)
+	ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
+	ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib -l:libzmq.a
+endif
+
+OPENDBC_PATH := $(shell python -c 'import opendbc; print opendbc.DBC_PATH')
+
+DBC_SOURCES := $(wildcard $(OPENDBC_PATH)/*.dbc)
+DBC_CCS := $(patsubst $(OPENDBC_PATH)/%.dbc,dbc_out/%.cc,$(DBC_SOURCES))
+
+CWD := $(shell pwd)
+
+.PHONY: all
+all: libdbc.so
+
+ifeq ($(UNAME_M),aarch64)
+include ../common/cereal.mk
+endif
+
+# make sure cereal is built
+libdbc.so:: ../../cereal/gen/cpp/log.capnp.h
+
+../../cereal/gen/cpp/log.capnp.h:
+	cd ../../cereal && make
+
+libdbc.so:: parser.cc $(DBC_CCS)
+	$(CXX) -fPIC -shared -o '$@' $^ \
+	  -I. \
+	  -I../.. \
+    $(CXXFLAGS) \
+    $(ZMQ_FLAGS) \
+    $(ZMQ_LIBS) \
+    $(CEREAL_CXXFLAGS) \
+    $(CEREAL_LIBS)
+
+dbc_out/%.cc: $(OPENDBC_PATH)/%.dbc
+	PYTHONPATH=$(PYTHONPATH):$(CWD)/../../pyextra ./process_dbc.py '$<' '$@'
+
+.PHONY: clean
+clean:
+	rm -rf libdbc.so*
+	rm -f dbc_out/*.cc

selfdrive/can/dbc_out/.gitignore

@@ -0,0 +1,2 @@
+*.cc
+

selfdrive/can/dbc_template.cc

@@ -0,0 +1,51 @@
+#include <cstdint>
+
+#include "parser_common.h"
+
+namespace {
+
+{% for address, msg_name, sigs in msgs %}
+const Signal sigs_{{address}}[] = {
+  {% for sig in sigs %}
+    {
+      {% set b1 = (sig.start_bit//8)*8  + (-sig.start_bit-1) % 8 %}
+      .name = "{{sig.name}}",
+      .b1 = {{b1}},
+      .b2 = {{sig.size}},
+      .bo = {{64 - (b1 + sig.size)}},
+      .is_signed = {{"true" if sig.is_signed else "false"}},
+      .factor = {{sig.factor}},
+      .offset = {{sig.offset}},
+      {% if checksum_type == "honda" and sig.name == "CHECKSUM" %}
+      .type = SignalType::HONDA_CHECKSUM,
+      {% elif checksum_type == "honda" and sig.name == "COUNTER" %}
+      .type = SignalType::HONDA_COUNTER,
+      {% else %}
+      .type = SignalType::DEFAULT,
+      {% endif %}
+    },
+  {% endfor %}
+};
+{% endfor %}
+
+const Msg msgs[] = {
+{% for address, msg_name, sigs in msgs %}
+  {% set address_hex = "0x%X" % address %}
+  {
+    .name = "{{msg_name}}",
+    .address = {{address_hex}},
+    .num_sigs = ARRAYSIZE(sigs_{{address}}),
+    .sigs = sigs_{{address}},
+  },
+{% endfor %}
+};
+
+}
+
+const DBC {{dbc.name}} = {
+  .name = "{{dbc.name}}",
+  .num_msgs = ARRAYSIZE(msgs),
+  .msgs = msgs,
+};
+
+dbc_init({{dbc.name}})

selfdrive/can/parser.cc

@@ -0,0 +1,441 @@
+#include <cstdio>
+#include <cstdint>
+#include <cassert>
+#include <cstring>
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <sys/mman.h>
+
+#include <string>
+#include <vector>
+#include <algorithm>
+#include <unordered_map>
+
+#include <zmq.h>
+
+#include <capnp/serialize.h>
+#include "cereal/gen/cpp/log.capnp.h"
+
+#include "parser_common.h"
+
+#define DEBUG(...)
+// #define DEBUG printf
+#define INFO printf
+
+
+#define MAX_BAD_COUNTER 5
+
+namespace {
+
+uint64_t read_u64_be(const uint8_t* v) {
+  return (((uint64_t)v[0] << 56)
+          | ((uint64_t)v[1] << 48)
+          | ((uint64_t)v[2] << 40)
+          | ((uint64_t)v[3] << 32)
+          | ((uint64_t)v[4] << 24)
+          | ((uint64_t)v[5] << 16)
+          | ((uint64_t)v[6] << 8)
+          | (uint64_t)v[7]);
+}
+
+std::vector<const DBC*> g_dbc;
+
+bool honda_checksum(int address, uint64_t d, int l) {
+  int target = (d >> l) & 0xF;
+
+  DEBUG("check checksum %16lx %d", d, l);
+
+  // remove checksum from calculation
+  d &= ~(0xFLL << l);
+
+  int s = 0;
+  while (address > 0) { s += (address & 0xF); address >>= 4; }
+  while (d > 0) { s += (d & 0xF); d >>= 4; }
+  s = 8-s;
+  s &= 0xF;
+
+  DEBUG("   %d = %d\n", target, s);
+  return target == s;
+}
+
+struct MessageState {
+  uint32_t address;
+
+  std::vector<Signal> parse_sigs;
+  std::vector<double> vals;
+
+  uint64_t seen;
+  uint64_t check_threshold;
+
+  uint8_t counter;
+  uint8_t counter_fail;
+
+  bool parse(uint64_t sec, uint64_t dat) {
+    for (int i=0; i < parse_sigs.size(); i++) {
+      auto& sig = parse_sigs[i];
+
+      int64_t tmp = (dat >> sig.bo) & ((1 << sig.b2)-1);
+      if (sig.is_signed) {
+        tmp -= (tmp >> (sig.b2-1)) ? (1<<sig.b2) : 0; //signed
+      }
+
+      DEBUG("parse %X %s -> %ld\n", address, sig.name, tmp);
+
+      if (sig.type == SignalType::HONDA_CHECKSUM) {
+        if (!honda_checksum(address, dat, sig.bo)) {
+          INFO("%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::HONDA_COUNTER) {
+        if (!honda_update_counter(tmp)) {
+          return false;
+        }
+      }
+
+      vals[i] = tmp * sig.factor + sig.offset;
+    }
+    seen = sec;
+
+    return true;
+  }
+
+
+  bool honda_update_counter(int64_t v) {
+    uint8_t old_counter = counter;
+    counter = v;
+    if (((old_counter+1) & 3) != v) {
+      counter_fail += 1;
+      if (counter_fail > 1) {
+        INFO("%X COUNTER FAIL %d -- %d vs %d\n", address, counter_fail, old_counter, (int)v);
+      }
+      if (counter_fail >= MAX_BAD_COUNTER) {
+        return false;
+      }
+    } else if (counter_fail > 0) {
+      counter_fail--;
+    }
+    return true;
+  }
+
+};
+
+class CANParser {
+ public:
+  CANParser(int abus, const std::string& dbc_name,
+            const std::vector<MessageParseOptions> &options,
+            const std::vector<SignalParseOptions> &sigoptions)
+    : bus(abus) {
+    // connect to can on 8006
+    context = zmq_ctx_new();
+    subscriber = zmq_socket(context, ZMQ_SUB);
+    zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0);
+    zmq_connect(subscriber, "tcp://127.0.0.1:8006");
+
+    for (auto dbci : g_dbc) {
+      if (dbci->name == dbc_name) {
+        dbc = dbci;
+        break;
+      }
+    }
+    assert(dbc);
+
+    for (auto &op : options) {
+      MessageState state = {
+        .address = op.address,
+        // .check_frequency = op.check_frequency,
+      };
+
+      // msg is not valid if a message isn't received for 10 consecutive steps
+      if (op.check_frequency > 0) {
+        state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
+      }
+
+
+      const Msg* msg = NULL;
+      for (int i=0; i<dbc->num_msgs; i++) {
+        if (dbc->msgs[i].address == op.address) {
+          msg = &dbc->msgs[i];
+          break;
+        }
+      }
+      if (!msg) {
+        fprintf(stderr, "CANParser: could not find message 0x%X in dnc %s\n", op.address, dbc_name.c_str());
+        assert(false);
+      }
+
+      // track checksums and for this message
+      for (int i=0; i<msg->num_sigs; i++) {
+        const Signal *sig = &msg->sigs[i];
+        if (sig->type == HONDA_CHECKSUM
+            || sig->type == HONDA_COUNTER) {
+          state.parse_sigs.push_back(*sig);
+          state.vals.push_back(0);
+        }
+      }
+
+      // track requested signals for this message
+      for (auto &sigop : sigoptions) {
+        if (sigop.address != op.address) continue;
+
+        for (int i=0; i<msg->num_sigs; i++) {
+          const Signal *sig = &msg->sigs[i];
+          if (strcmp(sig->name, sigop.name) == 0
+              && sig->type != HONDA_CHECKSUM
+              && sig->type != HONDA_COUNTER) {
+            state.parse_sigs.push_back(*sig);
+            state.vals.push_back(sigop.default_value);
+            break;
+          }
+        }
+
+      }
+
+      message_states[state.address] = state;
+    }
+  }
+
+  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
+      int msg_count = cans.size();
+
+      DEBUG("got %d messages\n", msg_count);
+
+      // parse the messages
+      for (int i = 0; i < msg_count; i++) {
+        auto cmsg = cans[i];
+        if (cmsg.getSrc() != bus) {
+          // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
+          continue;
+        }
+        auto state_it = message_states.find(cmsg.getAddress());
+        if (state_it == message_states.end()) {
+          // DEBUG("skip %d: not specified\n", cmsg.getAddress());
+          continue;
+        }
+
+        if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
+        uint8_t dat[8] = {0};
+        memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
+
+        uint64_t p = read_u64_be(dat);
+
+        DEBUG("  proc %X: %lx\n", cmsg.getAddress(), p);
+
+        state_it->second.parse(sec, p);
+      }
+  }
+
+  void UpdateValid(uint64_t sec) {
+    can_valid = true;
+    for (auto &kv : message_states) {
+      auto &state = kv.second;
+      if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
+        if (state.seen > 0) {
+          INFO("%X TIMEOUT\n", state.address);
+        }
+        can_valid = false;
+      }
+    }
+  }
+
+  void update(uint64_t sec, bool wait) {
+    int err;
+
+    // recv from can
+    zmq_msg_t msg;
+    zmq_msg_init(&msg);
+
+    // multiple recv is fine
+    bool first = wait;
+    while (1) {
+      if (first) {
+        err = zmq_msg_recv(&msg, subscriber, 0);
+        first = false;
+      } else {
+        err = zmq_msg_recv(&msg, subscriber, ZMQ_DONTWAIT);
+      }
+      if (err < 0) break;
+
+      // format for board, make copy due to alignment issues, will be freed on out of scope
+      auto amsg = kj::heapArray<capnp::word>((zmq_msg_size(&msg) / sizeof(capnp::word)) + 1);
+      memcpy(amsg.begin(), zmq_msg_data(&msg), zmq_msg_size(&msg));
+
+      // extract the messages
+      capnp::FlatArrayMessageReader cmsg(amsg);
+      cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+      
+      auto cans = event.getCan();
+
+      UpdateCans(sec, cans);
+    }
+
+    UpdateValid(sec);
+
+  }
+
+  std::vector<SignalValue> query(uint64_t sec) {
+    std::vector<SignalValue> ret;
+
+    for (auto &kv : message_states) {
+      auto &state = kv.second;
+      if (sec != 0 && state.seen != sec) continue;
+      
+      for (int i=0; i<state.parse_sigs.size(); i++) {
+        const Signal &sig = state.parse_sigs[i];
+        ret.push_back((SignalValue){
+          .address = state.address,
+          .name = sig.name,
+          .value = state.vals[i],
+        });
+      }
+    }
+
+    return ret;
+  }
+
+  bool can_valid = false;
+
+ private:
+  const int bus;
+  // zmq vars
+  void *context = NULL;
+  void *subscriber = NULL;
+
+  const DBC *dbc = NULL;
+  std::unordered_map<uint32_t, MessageState> message_states;
+};
+
+}
+
+void dbc_register(const DBC* dbc) {
+  g_dbc.push_back(dbc);
+}
+
+extern "C" {
+
+void* can_init(int bus, const char* dbc_name,
+              size_t num_message_options, const MessageParseOptions* message_options,
+              size_t num_signal_options, const SignalParseOptions* signal_options) {
+  CANParser* ret = new CANParser(bus, std::string(dbc_name),
+    (message_options ? std::vector<MessageParseOptions>(message_options, message_options+num_message_options)
+      : std::vector<MessageParseOptions>{}),
+    (signal_options ? std::vector<SignalParseOptions>(signal_options, signal_options+num_signal_options)
+      : std::vector<SignalParseOptions>{}));
+  return (void*)ret;
+}
+
+void can_update(void* can, uint64_t sec, bool wait) {
+  CANParser* cp = (CANParser*)can;
+  cp->update(sec, wait);
+}
+
+size_t can_query(void* can, uint64_t sec, bool *out_can_valid, size_t out_values_size, SignalValue* out_values) {
+  CANParser* cp = (CANParser*)can;
+
+  if (out_can_valid) {
+    *out_can_valid = cp->can_valid;
+  }
+
+  const std::vector<SignalValue> values = cp->query(sec);
+  if (out_values) {
+    std::copy(values.begin(), values.begin()+std::min(out_values_size, values.size()), out_values);
+  }
+  return values.size();
+};
+
+}
+
+#ifdef TEST
+
+int main(int argc, char** argv) {
+  CANParser cp(0, "honda_civic_touring_2016_can",
+    std::vector<MessageParseOptions>{
+      // address, check_frequency
+      {0x14a, 100},
+      {0x158, 100},
+      {0x17c, 100},
+      {0x191, 100},
+      {0x1a4, 50},
+      {0x326, 10},
+      {0x1b0, 50},
+      {0x1d0, 50},
+      {0x305, 10},
+      {0x324, 10},
+      {0x405, 3},
+      {0x18f, 0},
+      {0x130, 0},
+      {0x296, 0},
+      {0x30c, 0},
+    },
+    std::vector<SignalParseOptions>{
+      //  sig_name, sig_address, default 
+      {0x158, "XMISSION_SPEED", 0},
+      {0x1d0, "WHEEL_SPEED_FL", 0},
+      {0x1d0, "WHEEL_SPEED_FR", 0},
+      {0x1d0, "WHEEL_SPEED_RL", 0},
+      {0x14a, "STEER_ANGLE", 0},
+      {0x18f, "STEER_TORQUE_SENSOR", 0},
+      {0x191, "GEAR", 0},
+      {0x1b0, "WHEELS_MOVING", 1},
+      {0x405, "DOOR_OPEN_FL", 1},
+      {0x405, "DOOR_OPEN_FR", 1},
+      {0x405, "DOOR_OPEN_RL", 1},
+      {0x405, "DOOR_OPEN_RR", 1},
+      {0x324, "CRUISE_SPEED_PCM", 0},
+      {0x305, "SEATBELT_DRIVER_LAMP", 1},
+      {0x305, "SEATBELT_DRIVER_LATCHED", 0},
+      {0x17c, "BRAKE_PRESSED", 0},
+      {0x130, "CAR_GAS", 0},
+      {0x296, "CRUISE_BUTTONS", 0},
+      {0x1a4, "ESP_DISABLED", 1},
+      {0x30c, "HUD_LEAD", 0},
+      {0x1a4, "USER_BRAKE", 0},
+      {0x18f, "STEER_STATUS", 5},
+      {0x1d0, "WHEEL_SPEED_RR", 0},
+      {0x1b0, "BRAKE_ERROR_1", 1},
+      {0x1b0, "BRAKE_ERROR_2", 1},
+      {0x191, "GEAR_SHIFTER", 0},
+      {0x326, "MAIN_ON", 0},
+      {0x17c, "ACC_STATUS", 0},
+      {0x17c, "PEDAL_GAS", 0},
+      {0x296, "CRUISE_SETTING", 0},
+      {0x326, "LEFT_BLINKER", 0},
+      {0x326, "RIGHT_BLINKER", 0},
+      {0x324, "COUNTER", 0},
+      {0x17c, "ENGINE_RPM", 0},
+    });
+
+
+
+  const std::string log_fn = "dats.bin";
+
+  int log_fd = open(log_fn.c_str(), O_RDONLY, 0);
+  assert(log_fd >= 0);
+
+  off_t log_size = lseek(log_fd, 0, SEEK_END);
+  lseek(log_fd, 0, SEEK_SET);
+
+  void* log_data = mmap(NULL, log_size, PROT_READ, MAP_PRIVATE, log_fd, 0);
+  assert(log_data);
+
+  auto words = kj::arrayPtr((const capnp::word*)log_data, log_size/sizeof(capnp::word));
+  while (words.size() > 0) {
+    capnp::FlatArrayMessageReader reader(words);
+
+    auto evt = reader.getRoot<cereal::Event>();
+    auto cans = evt.getCan();
+
+    cp.UpdateCans(0, cans);
+
+    words = kj::arrayPtr(reader.getEnd(), words.end());
+  }
+
+  munmap(log_data, log_size);
+
+  close(log_fd);
+
+  return 0;
+}
+
+#endif

selfdrive/can/parser.py

@@ -0,0 +1,166 @@
+import os
+import time
+import subprocess
+from collections import defaultdict
+
+from cffi import FFI
+
+can_dir = os.path.dirname(os.path.abspath(__file__))
+libdbc_fn = os.path.join(can_dir, "libdbc.so")
+subprocess.check_output(["make"], cwd=can_dir)
+
+ffi = FFI()
+ffi.cdef("""
+
+typedef struct SignalParseOptions {
+  uint32_t address;
+  const char* name;
+  double default_value;
+} SignalParseOptions;
+
+typedef struct MessageParseOptions {
+  uint32_t address;
+  int check_frequency;
+} MessageParseOptions;
+
+typedef struct SignalValue {
+  uint32_t address;
+  const char* name;
+  double value;
+} SignalValue;
+
+void* can_init(int bus, const char* dbc_name,
+              size_t num_message_options, const MessageParseOptions* message_options,
+              size_t num_signal_options, const SignalParseOptions* signal_options);
+
+void can_update(void* can, uint64_t sec, bool wait);
+
+size_t can_query(void* can, uint64_t sec, bool *out_can_valid, size_t out_values_size, SignalValue* out_values);
+
+""")
+
+libdbc = ffi.dlopen(libdbc_fn)
+
+class CANParser(object):
+  def __init__(self, dbc_name, signals, checks=[], bus=0):
+    self.can_valid = True
+    self.vl = defaultdict(dict)
+
+    sig_names = dict((name, ffi.new("char[]", name)) for name, _, _ in signals)
+
+    signal_options_c = ffi.new("SignalParseOptions[]", [
+      {
+        'address': sig_address,
+        'name': sig_names[sig_name],
+        'default_value': sig_default,
+      } for sig_name, sig_address, sig_default in signals])
+
+    message_options = dict((address, 0) for _, address, _ in signals)
+    message_options.update(dict(checks))
+    
+    message_options_c = ffi.new("MessageParseOptions[]", [
+      {
+        'address': address,
+        'check_frequency': freq,
+      } for address, freq in message_options.iteritems()])
+
+    self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c,
+                               len(signal_options_c), signal_options_c)
+
+    self.p_can_valid = ffi.new("bool*")
+
+    value_count = libdbc.can_query(self.can, 0, self.p_can_valid, 0, ffi.NULL)
+    self.can_values = ffi.new("SignalValue[%d]" % value_count)
+    self.update_vl(0)
+    # print "==="
+
+  def update_vl(self, sec):
+
+    can_values_len = libdbc.can_query(self.can, sec, self.p_can_valid, len(self.can_values), self.can_values)
+    assert can_values_len <= len(self.can_values)
+
+    self.can_valid = self.p_can_valid[0]
+
+    # print can_values_len
+    ret = set()
+    for i in xrange(can_values_len):
+      cv = self.can_values[i]
+      address = cv.address
+      # print hex(cv.address), ffi.string(cv.name)
+      self.vl[address][ffi.string(cv.name)] = cv.value
+      ret.add(address)
+    return ret
+
+  def update(self, sec, wait):
+    libdbc.can_update(self.can, sec, wait)
+    return self.update_vl(sec)
+
+if __name__ == "__main__":
+  from common.realtime import sec_since_boot
+
+  radar_messages = range(0x430, 0x43A) + range(0x440, 0x446)
+  # signals = zip(['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
+  #               ['REL_SPEED'] * 16, radar_messages * 4,
+  #               [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)
+  # checks = zip(radar_messages, [20]*16)
+
+  # cp = CANParser("acura_ilx_2016_nidec", signals, checks, 1)
+
+  signals = [
+    ("XMISSION_SPEED", 0x158, 0), #sig_name, sig_address, default 
+    ("WHEEL_SPEED_FL", 0x1d0, 0),
+    ("WHEEL_SPEED_FR", 0x1d0, 0),
+    ("WHEEL_SPEED_RL", 0x1d0, 0),
+    ("STEER_ANGLE", 0x14a, 0),
+    ("STEER_TORQUE_SENSOR", 0x18f, 0),
+    ("GEAR", 0x191, 0),
+    ("WHEELS_MOVING", 0x1b0, 1),
+    ("DOOR_OPEN_FL", 0x405, 1),
+    ("DOOR_OPEN_FR", 0x405, 1),
+    ("DOOR_OPEN_RL", 0x405, 1),
+    ("DOOR_OPEN_RR", 0x405, 1),
+    ("CRUISE_SPEED_PCM", 0x324, 0),
+    ("SEATBELT_DRIVER_LAMP", 0x305, 1),
+    ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
+    ("BRAKE_PRESSED", 0x17c, 0),
+    ("CAR_GAS", 0x130, 0),
+    ("CRUISE_BUTTONS", 0x296, 0),
+    ("ESP_DISABLED", 0x1a4, 1),
+    ("HUD_LEAD", 0x30c, 0),
+    ("USER_BRAKE", 0x1a4, 0),
+    ("STEER_STATUS", 0x18f, 5),
+    ("WHEEL_SPEED_RR", 0x1d0, 0),
+    ("BRAKE_ERROR_1", 0x1b0, 1),
+    ("BRAKE_ERROR_2", 0x1b0, 1),
+    ("GEAR_SHIFTER", 0x191, 0),
+    ("MAIN_ON", 0x326, 0),
+    ("ACC_STATUS", 0x17c, 0),
+    ("PEDAL_GAS", 0x17c, 0),
+    ("CRUISE_SETTING", 0x296, 0),
+    ("LEFT_BLINKER", 0x326, 0),
+    ("RIGHT_BLINKER", 0x326, 0),
+    ("COUNTER", 0x324, 0),
+    ("ENGINE_RPM", 0x17C, 0)
+  ]
+  checks = [
+    (0x14a, 100), # address, frequency
+    (0x158, 100),
+    (0x17c, 100),
+    (0x191, 100),
+    (0x1a4, 50),
+    (0x326, 10),
+    (0x1b0, 50),
+    (0x1d0, 50),
+    (0x305, 10),
+    (0x324, 10),
+    (0x405, 3),
+  ]
+
+  cp = CANParser("honda_civic_touring_2016_can", signals, checks, 0)
+  print cp.vl
+
+  while True:
+    cp.update(int(sec_since_boot()*1e9), True)
+    print cp.vl
+    print cp.can_valid
+    time.sleep(0.01)

selfdrive/can/parser_common.h

@@ -0,0 +1,63 @@
+#ifndef PARSER_COMMON_H
+#define PARSER_COMMON_H
+
+#include <cstddef>
+#include <cstdint>
+
+#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
+
+
+
+struct SignalParseOptions {
+  uint32_t address;
+  const char* name;
+  double default_value;
+};
+
+struct MessageParseOptions {
+  uint32_t address;
+  int check_frequency;
+};
+
+struct SignalValue {
+  uint32_t address;
+  const char* name;
+  double value;
+};
+
+
+enum SignalType {
+  DEFAULT,
+  HONDA_CHECKSUM,
+  HONDA_COUNTER,
+};
+
+struct Signal {
+  const char* name;
+  int b1, b2, bo;
+  bool is_signed;
+  double factor, offset;
+  SignalType type;
+};
+
+struct Msg {
+  const char* name;
+  uint32_t address;
+  size_t num_sigs;
+  const Signal *sigs;
+};
+
+struct DBC {
+  const char* name;
+  size_t num_msgs;
+  const Msg *msgs;
+};
+
+void dbc_register(const DBC* dbc);
+
+#define dbc_init(dbc) \
+static void __attribute__((constructor)) do_dbc_init_ ## dbc(void) { \
+  dbc_register(&dbc); \
+}
+
+#endif

selfdrive/can/process_dbc.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python
+import os
+import sys
+
+import jinja2
+
+import opendbc
+from common.dbc import dbc
+
+if len(sys.argv) != 3:
+  print "usage: %s dbc_path struct_path" % (sys.argv[0],)
+  sys.exit(0)
+
+dbc_fn = sys.argv[1]
+out_fn = sys.argv[2]
+
+template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
+
+can_dbc = dbc(dbc_fn)
+
+with open(template_fn, "r") as template_f:
+  template = jinja2.Template(template_f.read(), trim_blocks=True, lstrip_blocks=True)
+
+msgs = [(address, msg_name, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
+        for address, ((msg_name, _), msg_sigs) in sorted(can_dbc.msgs.iteritems()) if msg_sigs]
+
+checksum_type = "honda" if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura") else None
+
+parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, len=len)
+
+with open(out_fn, "w") as out_f:
+  out_f.write(parser_code)

selfdrive/car/__init__.py

@@ -0,0 +1,30 @@
+from common.fingerprints import fingerprint
+
+from .honda.interface import CarInterface as HondaInterface
+
+try:
+  from .simulator.interface import CarInterface as SimInterface
+except ImportError:
+  SimInterface = None
+
+try:
+  from .simulator2.interface import CarInterface as Sim2Interface
+except ImportError:
+  Sim2Interface = None
+
+interfaces = {
+  "HONDA CIVIC 2016 TOURING": HondaInterface,
+  "ACURA ILX 2016 ACURAWATCH PLUS": HondaInterface,
+  "HONDA ACCORD 2016 TOURING": HondaInterface,
+  "HONDA CR-V 2016 TOURING": HondaInterface,
+
+  "simulator": SimInterface,
+  "simulator2": Sim2Interface
+}
+
+def get_car(logcan, sendcan=None):
+  candidate, fingerprints = fingerprint(logcan)
+  interface_cls = interfaces[candidate]
+  params = interface_cls.get_params(candidate, fingerprints)
+
+  return interface_cls(params, logcan, sendcan), params

selfdrive/car/honda/can_parser.py

@@ -1,5 +1,5 @@
 import os
-import dbcs
+import opendbc
 from collections import defaultdict
 
 from selfdrive.car.honda.hondacan import fix
@@ -19,12 +19,12 @@ class CANParser(object):
     #               monitored.
     #             - frequency is the frequency at which health should be monitored.
 
-    self.msgs_ck = [check[0] for check in checks]
-    self.frqs = [check[1] for check in checks]
+    self.msgs_ck = set([check[0] for check in checks])
+    self.frqs = dict(checks)
     self.can_valid = False  # start with False CAN assumption
     # list of received msg we want to monitor counter and checksum for
     # read dbc file
-    self.can_dbc = dbc(os.path.join(dbcs.DBC_PATH, dbc_f))
+    self.can_dbc = dbc(os.path.join(opendbc.DBC_PATH, dbc_f))
     # initialize variables to initial values
     self.vl = {}    # signal values
     self.ts = {}    # time stamp recorded in log
@@ -57,6 +57,8 @@ class CANParser(object):
     msgs_upd = []
     cn_vl_max = 5   # no more than 5 wrong counter checks
 
+    self.sec_since_boot_cached = sec_since_boot()
+
     # we are subscribing to PID_XXX, else data from USB
     for msg, ts, cdat, _ in can_recv:
       idxs = self._message_indices[msg]
@@ -93,7 +95,7 @@ class CANParser(object):
 
         # update msg time stamps and counter value
         self.ts[msg] = ts
-        self.ct[msg] = sec_since_boot()
+        self.ct[msg] = self.sec_since_boot_cached
         self.cn[msg] = cn
         self.cn_vl[msg] = min(max(self.cn_vl[msg], 0), cn_vl_max)
 
@@ -121,5 +123,5 @@ class CANParser(object):
     ### input:
     ## simple stuff for now: msg is not valid if a message isn't received for 10 consecutive steps
     for msg in set(self._msgs):
-      if msg in self.msgs_ck and sec_since_boot() - self.ct[msg] > 10./self.frqs[self.msgs_ck.index(msg)]:
+      if msg in self.msgs_ck and self.sec_since_boot_cached - self.ct[msg] > 10./self.frqs[msg]:
         self.ok[msg] = False

selfdrive/car/honda/carcontroller.py

@@ -1,11 +1,14 @@
 from collections import namedtuple
 
 import common.numpy_fast as np
+from common.numpy_fast import clip, interp
 from common.realtime import sec_since_boot
+
 from selfdrive.config import CruiseButtons
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.controls.lib.drive_helpers import rate_limit
-from common.numpy_fast import clip, interp
+from . import hondacan
+
 
 def actuator_hystereses(final_brake, braking, brake_steady, v_ego, civic):
   # hyst params... TODO: move these to VehicleParams
@@ -55,7 +58,7 @@ def process_hud_alert(hud_alert):
   fcw_display = 0
   steer_required = 0
   acc_alert = 0
-  if hud_alert == AH.NONE:          # no alert 
+  if hud_alert == AH.NONE:          # no alert
     pass
   elif hud_alert == AH.FCW:         # FCW
     fcw_display = hud_alert[1]
@@ -66,7 +69,6 @@ def process_hud_alert(hud_alert):
 
   return fcw_display, steer_required, acc_alert
 
-import selfdrive.car.honda.hondacan as hondacan
 
 HUDData = namedtuple("HUDData",
                      ["pcm_accel", "v_cruise", "X2", "car", "X4", "X5",
@@ -87,6 +89,10 @@ 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)
 
@@ -122,7 +128,7 @@ class CarController(object):
     #print chime, alert_id, hud_alert
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
-    hud = HUDData(int(pcm_accel), int(hud_v_cruise), 0x01, hud_car,
+    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 0x01, hud_car,
                   0xc1, 0x41, hud_lanes + steer_required,
                   int(snd_beep), 0x48, (snd_chime << 5) + fcw_display, acc_alert)
 
@@ -136,7 +142,12 @@ class CarController(object):
     tt = sec_since_boot()
     GAS_MAX = 1004
     BRAKE_MAX = 1024/4
-    STEER_MAX = 0xF00
+    if CS.civic:
+      STEER_MAX = 0x1000
+    elif CS.crv:
+      STEER_MAX = 0x300  # CR-V only uses 12-bits and requires a lower value
+    else:
+      STEER_MAX = 0xF00
     GAS_OFFSET = 328
 
     # steer torque is converted back to CAN reference (positive when steering right)
@@ -193,7 +204,7 @@ class CarController(object):
       can_sends.append(hondacan.create_accord_steering_control(apply_steer, idx))
     else:
       idx = frame % 4
-      can_sends.append(hondacan.create_steering_control(apply_steer, idx))
+      can_sends.extend(hondacan.create_steering_control(apply_steer, CS.crv, idx))
 
     # Send gas and brake commands.
     if (frame % 2) == 0:
@@ -202,7 +213,7 @@ class CarController(object):
         hondacan.create_brake_command(apply_brake, pcm_override,
                                       pcm_cancel_cmd, hud.chime, idx))
       if not CS.brake_only:
-        # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. 
+        # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
         # This prevents unexpected pedal range rescaling
         gas_amount = (apply_gas + GAS_OFFSET) * (apply_gas > 0)
         can_sends.append(hondacan.create_gas_command(gas_amount, idx))
@@ -210,17 +221,16 @@ class CarController(object):
     # Send dashboard UI commands.
     if (frame % 10) == 0:
       idx = (frame/10) % 4
-      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, idx))
+      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, idx))
 
     # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-    if CS.civic or CS.accord:
+    if CS.civic or CS.accord or CS.crv:
       radar_send_step = 5
     else:
       radar_send_step = 2
 
     if (frame % radar_send_step) == 0:
       idx = (frame/radar_send_step) % 4
-      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, idx))
+      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, idx))
 
     sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
-

selfdrive/car/honda/carstate.py

@@ -1,15 +1,22 @@
-import numpy as np
+import os
+import time
 
-import selfdrive.messaging as messaging
+import common.numpy_fast as np
 from common.realtime import sec_since_boot
 
+import selfdrive.messaging as messaging
+
 from selfdrive.car.honda.can_parser import CANParser
+from selfdrive.can.parser import CANParser as CANParserC
+
+NEW_CAN = os.getenv("OLD_CAN") is None
 
 def get_can_parser(CP):
   # this function generates lists for signal, messages and initial values
   if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
     dbc_f = 'honda_civic_touring_2016_can.dbc'
     signals = [
+      # sig_name, sig_address, default
       ("XMISSION_SPEED", 0x158, 0),
       ("WHEEL_SPEED_FL", 0x1d0, 0),
       ("WHEEL_SPEED_FR", 0x1d0, 0),
@@ -46,6 +53,7 @@ def get_can_parser(CP):
       ("ENGINE_RPM", 0x17C, 0)
     ]
     checks = [
+      # address, frequency
       (0x14a, 100),
       (0x158, 100),
       (0x17c, 100),
@@ -162,18 +170,73 @@ def get_can_parser(CP):
       (0x324, 10),
       (0x405, 3),
     ]
-
+  elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
+    dbc_f = 'honda_crv_touring_2016_can.dbc'
+    signals = [
+      ("XMISSION_SPEED", 0x158, 0),
+      ("WHEEL_SPEED_FL", 0x1d0, 0),
+      ("WHEEL_SPEED_FR", 0x1d0, 0),
+      ("WHEEL_SPEED_RL", 0x1d0, 0),
+      ("STEER_ANGLE", 0x156, 0),
+      ("STEER_TORQUE_SENSOR", 0x18f, 0),
+      ("GEAR", 0x191, 0),
+      ("WHEELS_MOVING", 0x1b0, 1),
+      ("DOOR_OPEN_FL", 0x405, 1),
+      ("DOOR_OPEN_FR", 0x405, 1),
+      ("DOOR_OPEN_RL", 0x405, 1),
+      ("DOOR_OPEN_RR", 0x405, 1),
+      ("CRUISE_SPEED_PCM", 0x324, 0),
+      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
+      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
+      ("BRAKE_PRESSED", 0x17c, 0),
+      #("CAR_GAS", 0x130, 0),
+      ("CRUISE_BUTTONS", 0x1a6, 0),
+      ("ESP_DISABLED", 0x1a4, 1),
+      ("HUD_LEAD", 0x30c, 0),
+      ("USER_BRAKE", 0x1a4, 0),
+      ("STEER_STATUS", 0x18f, 5),
+      ("WHEEL_SPEED_RR", 0x1d0, 0),
+      ("BRAKE_ERROR_1", 0x1b0, 1),
+      ("BRAKE_ERROR_2", 0x1b0, 1),
+      ("GEAR_SHIFTER", 0x191, 0),
+      ("MAIN_ON", 0x1a6, 0),
+      ("ACC_STATUS", 0x17c, 0),
+      ("PEDAL_GAS", 0x17c, 0),
+      ("CRUISE_SETTING", 0x1a6, 0),
+      ("LEFT_BLINKER", 0x294, 0),
+      ("RIGHT_BLINKER", 0x294, 0),
+      ("COUNTER", 0x324, 0),
+      ("ENGINE_RPM", 0x17C, 0)
+    ]
+    checks = [
+      (0x156, 100),
+      (0x158, 100),
+      (0x17c, 100),
+      (0x191, 100),
+      (0x1a3, 50),
+      (0x1a4, 50),
+      (0x1a6, 50),
+      (0x1b0, 50),
+      (0x1d0, 50),
+      (0x305, 10),
+      (0x324, 10),
+      (0x405, 3),
+    ]
   # add gas interceptor reading if we are using it
   if CP.enableGas:
     signals.append(("INTERCEPTOR_GAS", 0x201, 0))
     checks.append((0x201, 50))
 
-  return CANParser(dbc_f, signals, checks)
+  if NEW_CAN:
+    return CANParserC(os.path.splitext(dbc_f)[0], signals, checks, 0)
+  else:
+    return CANParser(dbc_f, signals, checks)
 
 class CarState(object):
   def __init__(self, CP, logcan):
     self.civic = False
     self.accord = False
+    self.crv = False
     if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
       self.civic = True
     elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
@@ -181,6 +244,8 @@ class CarState(object):
     elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
       # fake civic
       self.accord = True
+    elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
+      self.crv = True
     else:
       raise ValueError("unsupported car %s" % CP.carFingerprint)
 
@@ -202,9 +267,12 @@ class CarState(object):
     # TODO: actually make this work
     self.a_ego = 0.
 
-  def update(self, can_pub_main):
+  def update(self, can_pub_main=None):
     cp = self.cp
-    cp.update_can(can_pub_main)
+    if NEW_CAN:
+      cp.update(int(sec_since_boot() * 1e9), False)
+    else:
+      cp.update_can(can_pub_main)
 
     # copy can_valid
     self.can_valid = cp.can_valid
@@ -278,6 +346,17 @@ class CarState(object):
       self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
       self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
       self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
+    elif self.crv:
+      self.gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
+      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
+      self.gear = cp.vl[0x191]['GEAR']
+      self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
+      self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
+      self.main_on = cp.vl[0x1A6]['MAIN_ON']
+      self.gear_shifter_valid = self.gear_shifter in [1,8]  # TODO: 1/P allowed for debug
+      self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
+      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
+      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
     else:
       self.gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
       self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
@@ -293,6 +372,10 @@ class CarState(object):
       # on the accord, this doesn't seem to include cruise control
       self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
       self.steer_override = False
+    elif self.crv:
+      # like accord, crv doesn't include cruise control
+      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
+      self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
     else:
       self.car_gas = cp.vl[0x130]['CAR_GAS']
       self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
@@ -304,4 +387,3 @@ class CarState(object):
     self.pedal_gas = cp.vl[0x17C]['PEDAL_GAS']
     self.hud_lead = cp.vl[0x30C]['HUD_LEAD']
     self.counter_pcm = cp.vl[0x324]['COUNTER']
-

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
@@ -68,12 +68,18 @@ def create_accord_steering_control(apply_steer, idx):
 
   return [0,0,dat,8]
 
-def create_steering_control(apply_steer, idx):
+def create_steering_control(apply_steer, crv, idx):
   """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
-  msg = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
-  return make_can_msg(0xe4, msg, idx, 0)
+  commands = []
+  if crv:
+    msg_0x194 = struct.pack("!h", apply_steer << 4) + ("\x80" if apply_steer != 0 else "\x00")
+    commands.append(make_can_msg(0x194, msg_0x194, idx, 0))
+  else:
+    msg_0xe4 = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
+    commands.append(make_can_msg(0xe4, msg_0xe4, idx, 0))
+  return commands
 
-def create_ui_commands(pcm_speed, hud, civic, accord, idx):
+def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
   """Creates an iterable of CAN messages for the UIs."""
   commands = []
   pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
@@ -94,14 +100,15 @@ def create_ui_commands(pcm_speed, hud, civic, accord, idx):
     commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
   return commands
 
-def create_radar_commands(v_ego, civic, accord, idx):
+def create_radar_commands(v_ego, civic, accord, crv, idx):
   """Creates an iterable of CAN messages for the radar system."""
   commands = []
   v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
   speed = struct.pack('!B', v_ego_kph)
+
   msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +\
-              ("\x20" if idx == 0 or idx == 3 else "\x00") +\
-                "\x00\x00")
+                  ("\x20" if idx == 0 or idx == 3 else "\x00") +\
+                    "\x00\x00")
   if civic:
     msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
     # add 8 on idx.
@@ -112,6 +119,9 @@ def create_radar_commands(v_ego, civic, accord, idx):
     msg_0x301 = "\x0e\xd8\x52\x22\x56\x00\x00"
     # add 0xc on idx? WTF is this?
     commands.append(make_can_msg(0x300, msg_0x300, idx + 0xc, 1))
+  elif crv:
+    msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
+    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
   else:
     msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))

selfdrive/car/honda/interface.py

@@ -1,18 +1,20 @@
 #!/usr/bin/env python
+import os
 import time
-import numpy as np
+import common.numpy_fast as np
 
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.carstate import CarState
-from selfdrive.car.honda.carcontroller import CarController, AH
+from .carstate import CarState
+from .carcontroller import CarController, AH
 from selfdrive.boardd.boardd import can_capnp_to_can_list
 
 from cereal import car
 
-import zmq
 from selfdrive.services import service_list
 import selfdrive.messaging as messaging
 
+NEW_CAN = os.getenv("OLD_CAN") is None
+
 # Car button codes
 class CruiseButtons:
   RES_ACCEL   = 4
@@ -35,7 +37,6 @@ class BP:
   TRIPLE = 2
   REPEATED = 1
 
-
 class CarInterface(object):
   def __init__(self, CP, logcan, sendcan=None):
     self.logcan = logcan
@@ -55,19 +56,65 @@ class CarInterface(object):
     if self.CS.accord:
       self.accord_msg = []
 
+  @staticmethod
+  def get_params(candidate, fingerprint):
+
+    # pedal
+    brake_only = 0x201 not in fingerprint
+
+    ret = car.CarParams.new_message()
+
+    ret.carName = "honda"
+    ret.radarName = "nidec"
+    ret.carFingerprint = candidate
+
+    ret.enableSteer = True
+    ret.enableBrake = True
+    ret.enableGas = not brake_only
+    ret.enableCruise = brake_only
+    #ret.enableCruise = False
+
+    # TODO: those parameters should be platform dependent
+    ret.wheelBase = 2.67
+    ret.slipFactor = 0.0014
+
+    if candidate == "HONDA CIVIC 2016 TOURING":
+      ret.steerRatio = 13.0
+      ret.steerKp, ret.steerKi = 6.0, 1.4
+    elif candidate == "ACURA ILX 2016 ACURAWATCH PLUS":
+      ret.steerRatio = 15.3
+      if not brake_only:
+        # assuming if we have an interceptor we also have a torque mod
+        ret.steerKp, ret.steerKi = 3.0, 0.7
+      else:
+        ret.steerKp, ret.steerKi = 6.0, 1.4
+    elif candidate == "HONDA ACCORD 2016 TOURING":
+      ret.steerRatio = 15.3
+      ret.steerKp, ret.steerKi = 6.0, 1.4
+    elif candidate == "HONDA CR-V 2016 TOURING":
+      ret.steerRatio = 15.3
+      ret.steerKp, ret.steerKi = 3.0, 0.7
+    else:
+      raise ValueError("unsupported car %s" % candidate)
+
+    return ret
+
   # returns a car.CarState
   def update(self):
     # ******************* do can recv *******************
     can_pub_main = []
     canMonoTimes = []
 
-    for a in messaging.drain_sock(self.logcan):
-      canMonoTimes.append(a.logMonoTime)
-      can_pub_main.extend(can_capnp_to_can_list(a.can, [0,2]))
-      if self.CS.accord:
-        self.accord_msg.extend(can_capnp_to_can_list(a.can, [9]))
-        self.accord_msg = self.accord_msg[-1:]
-    self.CS.update(can_pub_main)
+    if NEW_CAN:
+      self.CS.update(can_pub_main)
+    else:
+      for a in messaging.drain_sock(self.logcan):
+        canMonoTimes.append(a.logMonoTime)
+        can_pub_main.extend(can_capnp_to_can_list(a.can, [0,0x80]))
+        if self.CS.accord:
+          self.accord_msg.extend(can_capnp_to_can_list(a.can, [9]))
+          self.accord_msg = self.accord_msg[-1:]
+      self.CS.update(can_pub_main)
 
     # create message
     ret = car.CarState.new_message()
@@ -115,6 +162,7 @@ class CarInterface(object):
     # cruise state
     ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
+    ret.cruiseState.available = bool(self.CS.main_on)
 
     # TODO: button presses
     buttonEvents = []
@@ -178,7 +226,7 @@ class CarInterface(object):
     if self.CS.steer_error:
       errors.append('steerUnavailable')
     elif self.CS.steer_not_allowed:
-      errors.append('steerTemporarilyUnavailable')
+      errors.append('steerTempUnavailable')
     if self.CS.brake_error:
       errors.append('brakeUnavailable')
     if not self.CS.gear_shifter_valid:
@@ -212,7 +260,7 @@ class CarInterface(object):
       hud_v_cruise = 255
 
     hud_alert = {
-      "none": AH.NONE, 
+      "none": AH.NONE,
       "fcw": AH.FCW,
       "steerRequired": AH.STEER,
       "brakePressed": AH.BRAKE_PRESSED,
@@ -246,4 +294,3 @@ class CarInterface(object):
 
     self.frame += 1
     return not (c.enabled and not self.CC.controls_allowed)
-

selfdrive/common/framebuffer.cc

@@ -38,7 +38,7 @@ extern "C" void framebuffer_set_power(FramebufferState *s, int mode) {
 }
 
 extern "C" FramebufferState* framebuffer_init(
-    const char* name, int32_t layer,
+    const char* name, int32_t layer, int alpha,
     EGLDisplay *out_display, EGLSurface *out_surface,
     int *out_w, int *out_h) {
   status_t status;
@@ -86,6 +86,7 @@ extern "C" FramebufferState* framebuffer_init(
     EGL_RED_SIZE,     8,
     EGL_GREEN_SIZE,   8,
     EGL_BLUE_SIZE,    8,
+    EGL_ALPHA_SIZE,   alpha ? 8 : 0,
     EGL_DEPTH_SIZE,   0,
     EGL_STENCIL_SIZE, 8,
     EGL_RENDERABLE_TYPE, EGL_OPENGL_ES3_BIT_KHR,

selfdrive/common/framebuffer.h

@@ -10,7 +10,7 @@ extern "C" {
 typedef struct FramebufferState FramebufferState;
 
 FramebufferState* framebuffer_init(
-    const char* name, int32_t layer,
+    const char* name, int32_t layer, int alpha,
     EGLDisplay *out_display, EGLSurface *out_surface,
     int *out_w, int *out_h);
 

selfdrive/common/params.c

@@ -47,6 +47,12 @@ int write_db_value(const char* params_path, const char* key, const char* value,
     goto cleanup;
   }
 
+  // fsync to force persist the changes.
+  result = fsync(tmp_fd);
+  if (result < 0) {
+    goto cleanup;
+  }
+
   // Move temp into place.
   result = rename(tmp_path, path);
 

selfdrive/common/swaglog.c

@@ -12,6 +12,7 @@
 #include <json.h>
 
 #include "common/timing.h"
+#include "common/version.h"
 
 #include "swaglog.h"
 
@@ -28,6 +29,10 @@ static LogState s = {
   .lock = PTHREAD_MUTEX_INITIALIZER,
 };
 
+static void cloudlog_bind_locked(const char* k, const char* v) {
+  json_append_member(s.ctx_j, k, json_mkstring(v));
+}
+
 static void cloudlog_init() {
   if (s.inited) return;
   s.ctx_j = json_mkobject();
@@ -47,6 +52,15 @@ static void cloudlog_init() {
     }
   }
 
+  // openpilot bindings
+  char* dongle_id = getenv("DONGLE_ID");
+  if (dongle_id) {
+    cloudlog_bind_locked("dongle_id", dongle_id);
+  }
+  cloudlog_bind_locked("version", OPENPILOT_VERSION);
+  bool dirty = !getenv("CLEAN");
+  json_append_member(s.ctx_j, "dirty", json_mkbool(dirty));
+
   s.inited = true;
 }
 
@@ -100,6 +114,6 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
 void cloudlog_bind(const char* k, const char* v) {
   pthread_mutex_lock(&s.lock);
   cloudlog_init();
-  json_append_member(s.ctx_j, k, json_mkstring(v));
+  cloudlog_bind_locked(k, v);
   pthread_mutex_unlock(&s.lock);
 }

selfdrive/common/timing.h

@@ -4,6 +4,10 @@
 #include <stdint.h>
 #include <time.h>
 
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_REALTIME
+#endif
+
 static inline uint64_t nanos_since_boot() {
   struct timespec t;
   clock_gettime(CLOCK_BOOTTIME, &t);

selfdrive/common/util.c

@@ -12,13 +12,16 @@ void* read_file(const char* path, size_t* out_len) {
   long f_len = ftell(f);
   rewind(f);
 
-  char* buf = malloc(f_len + 1);
+  char* buf = calloc(f_len + 1, 1);
   assert(buf);
-  memset(buf, 0, f_len + 1);
+
   size_t num_read = fread(buf, f_len, 1, f);
-  assert(num_read == 1);
   fclose(f);
 
+  if (num_read != 1) {
+    return NULL;
+  }
+
   if (out_len) {
     *out_len = f_len + 1;
   }

selfdrive/common/util.h

@@ -19,7 +19,10 @@
 
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
 
+// Reads a file into a newly allocated buffer.
+//
 // Returns NULL on failure, otherwise the NULL-terminated file contents.
+// The result must be freed by the caller.
 void* read_file(const char* path, size_t* out_len);
 
 

selfdrive/common/utilpp.h

@@ -5,6 +5,7 @@
 #include <unistd.h>
 
 #include <string>
+#include <memory>
 #include <sstream>
 #include <fstream>
 

selfdrive/common/version.h

@@ -1 +1 @@
-const char *openpilot_version = "0.3.1";
+#define OPENPILOT_VERSION "0.3.4"

selfdrive/controls/controlsd.py

@@ -1,21 +1,23 @@
 #!/usr/bin/env python
 import os
 import zmq
-import numpy as np
 import selfdrive.messaging as messaging
+from copy import copy
 
 from cereal import car, log
 
-from selfdrive.swaglog import cloudlog
 from common.numpy_fast import clip
 from common.fingerprints import fingerprint
 
-from selfdrive.config import Conversions as CV
-from selfdrive.services import service_list
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
 from common.profiler import Profiler
 from common.params import Params
 
+from selfdrive.swaglog import cloudlog
+from selfdrive.config import Conversions as CV
+from selfdrive.services import service_list
+from selfdrive.car import get_car
+from selfdrive.controls.lib.planner import Planner
 from selfdrive.controls.lib.drive_helpers import learn_angle_offset
 
 from selfdrive.controls.lib.longcontrol import LongControl
@@ -28,315 +30,352 @@ V_CRUISE_MIN = 8
 V_CRUISE_DELTA = 8
 V_CRUISE_ENABLE_MIN = 40
 
-def controlsd_thread(gctx, rate=100):  #rate in Hz
-  # *** log ***
-  context = zmq.Context()
-  live100 = messaging.pub_sock(context, service_list['live100'].port)
-  carstate = messaging.pub_sock(context, service_list['carState'].port)
-  carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
+AWARENESS_TIME = 360.      # 6 minutes limit without user touching steering wheels
+AWARENESS_PRE_TIME = 20.   # a first alert is issued 20s before start decelerating the car
+AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distracted
 
-  thermal = messaging.sub_sock(context, service_list['thermal'].port)
-  health = messaging.sub_sock(context, service_list['health'].port)
-  plan_sock = messaging.sub_sock(context, service_list['plan'].port)
+# class Cal
+class Calibration:
+  UNCALIBRATED = 0
+  CALIBRATED = 1
+  INVALID = 2
 
-  logcan = messaging.sub_sock(context, service_list['can'].port)
+# to be used
+class State():
+  DISABLED = 0
+  ENABLED = 1
+  SOFT_DISABLE = 2
 
-  # connects to can
-  CP = fingerprint(logcan)
+class Controls(object):
+  def __init__(self, gctx, rate=100):
+    self.rate = rate
 
-  # import the car from the fingerprint
-  cloudlog.info("controlsd is importing %s", CP.carName)
-  exec('from selfdrive.car.'+CP.carName+'.interface import CarInterface')
+    # *** log ***
+    context = zmq.Context()
 
-  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
-  CI = CarInterface(CP, logcan, sendcan)
+    # pub
+    self.live100 = messaging.pub_sock(context, service_list['live100'].port)
+    self.carstate = messaging.pub_sock(context, service_list['carState'].port)
+    self.carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
+    sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
+ 
+    # sub
+    self.thermal = messaging.sub_sock(context, service_list['thermal'].port)
+    self.health = messaging.sub_sock(context, service_list['health'].port)
+    logcan = messaging.sub_sock(context, service_list['can'].port)
+    self.cal = messaging.sub_sock(context, service_list['liveCalibration'].port)
+    
+    self.CC = car.CarControl.new_message()
+    self.CI, self.CP = get_car(logcan, sendcan)
+    self.PL = Planner(self.CP)
+    self.AM = AlertManager()
+    self.LoC = LongControl()
+    self.LaC = LatControl()
+  
+    # write CarParams
+    params = Params()
+    params.put("CarParams", self.CP.to_bytes())
+  
+    # fake plan
+    self.plan_ts = 0
+    self.plan = log.Plan.new_message()
+    self.plan.lateralValid = False
+    self.plan.longitudinalValid = False
+  
+    # controls enabled state
+    self.enabled = False
+    self.last_enable_request = 0
+  
+    # learned angle offset
+    self.angle_offset = 0
+  
+    # rear view camera state
+    self.rear_view_toggle = False
+    self.rear_view_allowed = bool(params.get("IsRearViewMirror"))
+  
+    self.v_cruise_kph = 255
+  
+    # 0.0 - 1.0
+    self.awareness_status = 1.0
+  
+    self.soft_disable_timer = None
+  
+    self.overtemp = False
+    self.free_space = 1.0
+    self.cal_status = Calibration.UNCALIBRATED
+    self.cal_perc = 0
+  
+    self.rk = Ratekeeper(self.rate, print_delay_threshold=2./1000)
+ 
+  def data_sample(self):
+    self.prof = Profiler()
+    self.cur_time = sec_since_boot()
+    # first read can and compute car states
+    self.CS = self.CI.update()
 
-  # write CarParams
-  Params().put("CarParams", CP.to_bytes())
-
-  AM = AlertManager()
-
-  LoC = LongControl()
-  LaC = LatControl()
-
-  # fake plan
-  plan = log.Plan.new_message()
-  plan.lateralValid = False
-  plan.longitudinalValid = False
-  last_plan_time = 0
-
-  # controls enabled state
-  enabled = False
-  last_enable_request = 0
-
-  # learned angle offset
-  angle_offset = 0
-
-  # rear view camera state
-  rear_view_toggle = False
-
-  v_cruise_kph = 255
-
-  # 0.0 - 1.0
-  awareness_status = 0.0
-
-  soft_disable_timer = None
-
-  # Is cpu temp too high to enable?
-  overtemp = False
-  free_space = 1.0
-
-  # start the loop
-  set_realtime_priority(2)
-
-  rk = Ratekeeper(rate, print_delay_threshold=2./1000)
-  while 1:
-    prof = Profiler()
-    cur_time = sec_since_boot()
-
-    # read CAN
-    CS = CI.update()
-
-    # broadcast carState
-    cs_send = messaging.new_message()
-    cs_send.init('carState')
-    cs_send.carState = CS    # copy?
-    carstate.send(cs_send.to_bytes())
-
-    prof.checkpoint("CarInterface")
-
-    # did it request to enable?
-    enable_request, enable_condition = False, False
-
-    if enabled:
-      # gives the user 6 minutes
-      awareness_status -= 1.0/(100*60*6)
-      if awareness_status <= 0.:
-        AM.add("driverDistracted", enabled)
-
-    # reset awareness status on steering
-    if CS.steeringPressed:
-      awareness_status = 1.0
-
-    # handle button presses
-    for b in CS.buttonEvents:
-      print b
-
-      # reset awareness on any user action
-      awareness_status = 1.0
-
-      # button presses for rear view
-      if b.type == "leftBlinker" or b.type == "rightBlinker":
-        if b.pressed:
-          rear_view_toggle = True
-        else:
-          rear_view_toggle = False
-
-      if b.type == "altButton1" and b.pressed:
-        rear_view_toggle = not rear_view_toggle
-
-      if not CP.enableCruise and enabled and not b.pressed:
-        if b.type == "accelCruise":
-          v_cruise_kph = v_cruise_kph - (v_cruise_kph % V_CRUISE_DELTA) + V_CRUISE_DELTA
-        elif b.type == "decelCruise":
-          v_cruise_kph = v_cruise_kph - (v_cruise_kph % V_CRUISE_DELTA) - V_CRUISE_DELTA
-        v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
-
-      if not enabled and b.type in ["accelCruise", "decelCruise"] and not b.pressed:
-        enable_request = True
-
-      # do disable on button down
-      if b.type == "cancel" and b.pressed:
-        AM.add("disable", enabled)
-
-    prof.checkpoint("Buttons")
-
-    # *** health checking logic ***
-    hh = messaging.recv_sock(health)
-    if hh is not None:
-      # if the board isn't allowing controls but somehow we are enabled!
-      if not hh.health.controlsAllowed and enabled:
-        AM.add("controlsMismatch", enabled)
+    self.prof.checkpoint("CarInterface")
 
     # *** thermal checking logic ***
-
     # thermal data, checked every second
-    td = messaging.recv_sock(thermal)
+    td = messaging.recv_sock(self.thermal)
     if td is not None:
       # Check temperature.
-      overtemp = any(
+      self.overtemp = any(
           t > 950
           for t in (td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
                     td.thermal.cpu3, td.thermal.mem, td.thermal.gpu))
       # under 15% of space free
-      free_space = td.thermal.freeSpace
+      self.free_space = td.thermal.freeSpace
 
-    prof.checkpoint("Health")
+    # read calibration status
+    cal = messaging.recv_sock(self.cal)
+    if cal is not None:
+      self.cal_status = cal.liveCalibration.calStatus
+      self.cal_perc = cal.liveCalibration.calPerc
+    
+
+  def state_transition(self):
+    pass # for now
+
+  def state_control(self):
+    
+    # did it request to enable?
+    enable_request, enable_condition = False, False
+
+    # reset awareness status on steering
+    if self.CS.steeringPressed or not self.enabled:
+      self.awareness_status = 1.0
+    elif self.enabled:
+      # gives the user 6 minutes
+      self.awareness_status -= 1.0/(self.rate * AWARENESS_TIME)
+      if self.awareness_status <= 0.:
+        self.AM.add("driverDistracted", self.enabled)
+      elif self.awareness_status <= AWARENESS_PRE_TIME / AWARENESS_TIME and \
+           self.awareness_status >= (AWARENESS_PRE_TIME - 0.1) / AWARENESS_TIME:
+        self.AM.add("preDriverDistracted", self.enabled)
+
+    # handle button presses
+    for b in self.CS.buttonEvents:
+      print b
+
+      # button presses for rear view
+      if b.type == "leftBlinker" or b.type == "rightBlinker":
+        if b.pressed and self.rear_view_allowed:
+          self.rear_view_toggle = True
+        else:
+          self.rear_view_toggle = False
+
+      if b.type == "altButton1" and b.pressed:
+        self.rear_view_toggle = not self.rear_view_toggle
+
+      if not self.CP.enableCruise and self.enabled and not b.pressed:
+        if b.type == "accelCruise":
+          self.v_cruise_kph -= (self.v_cruise_kph % V_CRUISE_DELTA) - V_CRUISE_DELTA
+        elif b.type == "decelCruise":
+          self.v_cruise_kph -= (self.v_cruise_kph % V_CRUISE_DELTA) + V_CRUISE_DELTA
+        self.v_cruise_kph = clip(self.v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
+
+      if not self.enabled and b.type in ["accelCruise", "decelCruise"] and not b.pressed:
+        enable_request = True
+
+      # do disable on button down
+      if b.type == "cancel" and b.pressed:
+        self.AM.add("disable", self.enabled)
+
+    self.prof.checkpoint("Buttons")
+    
+    # *** health checking logic ***
+    hh = messaging.recv_sock(self.health)
+    if hh is not None:
+      # if the board isn't allowing controls but somehow we are enabled!
+      # TODO: this should be in state transition with a function follower logic
+      if not hh.health.controlsAllowed and self.enabled:
+        self.AM.add("controlsMismatch", self.enabled)
 
     # disable if the pedals are pressed while engaged, this is a user disable
-    if enabled:
-      if CS.gasPressed or CS.brakePressed:
-        AM.add("disable", enabled)
+    if self.enabled:
+      if self.CS.gasPressed or self.CS.brakePressed or not self.CS.cruiseState.available:
+        self.AM.add("disable", self.enabled)
+
+      # it can happen that car cruise disables while comma system is enabled: need to
+      # keep braking if needed or if the speed is very low
+      # TODO: for the Acura, cancellation below 25mph is normal. Issue a non loud alert
+      if self.CP.enableCruise and not self.CS.cruiseState.enabled and \
+         (self.CC.brake <= 0. or self.CS.vEgo < 0.3):
+        self.AM.add("cruiseDisabled", self.enabled)
 
     if enable_request:
       # check for pressed pedals
-      if CS.gasPressed or CS.brakePressed:
-        AM.add("pedalPressed", enabled)
+      if self.CS.gasPressed or self.CS.brakePressed:
+        self.AM.add("pedalPressed", self.enabled)
         enable_request = False
       else:
-        print "enabled pressed at", cur_time
-        last_enable_request = cur_time
+        print "enabled pressed at", self.cur_time
+        self.last_enable_request = self.cur_time
 
       # don't engage with less than 15% free
-      if free_space < 0.15:
-        AM.add("outOfSpace", enabled)
+      if self.free_space < 0.15:
+        self.AM.add("outOfSpace", self.enabled)
         enable_request = False
 
-    if CP.enableCruise:
-      enable_condition = ((cur_time - last_enable_request) < 0.2) and CS.cruiseState.enabled
+    if self.CP.enableCruise:
+      enable_condition = ((self.cur_time - self.last_enable_request) < 0.2) and self.CS.cruiseState.enabled
     else:
       enable_condition = enable_request
 
-    if CP.enableCruise and CS.cruiseState.enabled:
-      v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+    if self.CP.enableCruise and self.CS.cruiseState.enabled:
+      self.v_cruise_kph = self.CS.cruiseState.speed * CV.MS_TO_KPH
 
-    prof.checkpoint("AdaptiveCruise")
+    self.prof.checkpoint("AdaptiveCruise")
 
     # *** what's the plan ***
-    new_plan = messaging.recv_sock(plan_sock)
-    if new_plan is not None:
-      plan = new_plan.plan
-      plan = plan.as_builder()  # plan can change in controls
-      last_plan_time = cur_time
+    plan_packet = self.PL.update(self.CS, self.LoC)
+    self.plan = plan_packet.plan
+    self.plan_ts = plan_packet.logMonoTime
 
-    # check plan for timeout
-    if cur_time - last_plan_time > 0.5:
-      plan.lateralValid = False
-      plan.longitudinalValid = False
+    # if user is not responsive to awareness alerts, then start a smooth deceleration
+    if self.awareness_status < -0.:
+      self.plan.aTargetMax = min(self.plan.aTargetMax, AWARENESS_DECEL)
+      self.plan.aTargetMin = min(self.plan.aTargetMin, self.plan.aTargetMax)
 
-    # gives 18 seconds before decel begins (w 6 minute timeout)
-    if awareness_status < -0.05:
-      plan.aTargetMax = min(plan.aTargetMax, -0.2)
-      plan.aTargetMin = min(plan.aTargetMin, plan.aTargetMax)
-
-    if enable_request or enable_condition or enabled:
+    if enable_request or enable_condition or self.enabled:
       # add all alerts from car
-      for alert in CS.errors:
-        AM.add(alert, enabled)
+      for alert in self.CS.errors:
+        self.AM.add(alert, self.enabled)
 
-      if not plan.longitudinalValid:
-        AM.add("radarCommIssue", enabled)
+      if not self.plan.longitudinalValid:
+        self.AM.add("radarCommIssue", self.enabled)
 
-      if not plan.lateralValid:
+      if self.cal_status != Calibration.CALIBRATED:
+        if self.cal_status == Calibration.UNCALIBRATED:
+          self.AM.add("calibrationInProgress", self.enabled, str(self.cal_perc) + '%')
+        else:
+          self.AM.add("calibrationInvalid", self.enabled)
+
+      if not self.plan.lateralValid:
         # If the model is not broadcasting, assume that it is because
         # the user has uploaded insufficient data for calibration.
         # Other cases that would trigger this are rare and unactionable by the user.
-        AM.add("dataNeeded", enabled)
+        self.AM.add("dataNeeded", self.enabled)
 
-      if overtemp:
-        AM.add("overheat", enabled)
+      if self.overtemp:
+        self.AM.add("overheat", self.enabled)
 
-    # *** angle offset learning ***
-    if rk.frame % 5 == 2 and plan.lateralValid:
-      # *** run this at 20hz again ***
-      angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset, np.asarray(plan.dPoly), LaC.y_des, CS.steeringPressed)
+    
+    # *** angle offset learning *** 
+    if self.rk.frame % 5 == 2 and self.plan.lateralValid: 
+      # *** run this at 20hz again *** 
+      self.angle_offset = learn_angle_offset(self.enabled, self.CS.vEgo, self.angle_offset, 
+                                             self.plan.dPoly, self.LaC.y_des, self.CS.steeringPressed) 
 
-    # *** gas/brake PID loop ***
-    final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph,
-                                        plan.vTarget,
-                                        [plan.aTargetMin, plan.aTargetMax],
-                                        plan.jerkFactor, CP)
+    # *** gas/brake PID loop *** 
+    final_gas, final_brake = self.LoC.update(self.enabled, self.CS.vEgo, self.v_cruise_kph, 
+                                        self.plan.vTarget, 
+                                        [self.plan.aTargetMin, self.plan.aTargetMax], 
+                                        self.plan.jerkFactor, self.CP) 
 
-    # *** steering PID loop ***
-    final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, plan.dPoly, angle_offset, CP)
+    # *** steering PID loop *** 
+    final_steer, sat_flag = self.LaC.update(self.enabled, self.CS.vEgo, self.CS.steeringAngle, 
+                                            self.CS.steeringPressed, self.plan.dPoly, self.angle_offset, self.CP) 
+ 
+    self.prof.checkpoint("PID") 
+    
+        # ***** handle alerts ****
+    # send FCW alert if triggered by planner
+    if self.plan.fcw:
+      self.AM.add("fcw", self.enabled)
 
-    prof.checkpoint("PID")
-
-    # ***** handle alerts ****
     # send a "steering required alert" if saturation count has reached the limit
     if sat_flag:
-      AM.add("steerSaturated", enabled)
+      self.AM.add("steerSaturated", self.enabled)
 
-    if enabled and AM.alertShouldDisable():
+    if self.enabled and self.AM.alertShouldDisable():
       print "DISABLING IMMEDIATELY ON ALERT"
-      enabled = False
+      self.enabled = False
 
-    if enabled and AM.alertShouldSoftDisable():
-      if soft_disable_timer is None:
-        soft_disable_timer = 3 * rate
-      elif soft_disable_timer == 0:
+    if self.enabled and self.AM.alertShouldSoftDisable():
+      if self.soft_disable_timer is None:
+        self.soft_disable_timer = 3 * self.rate
+      elif self.soft_disable_timer == 0:
         print "SOFT DISABLING ON ALERT"
-        enabled = False
+        self.enabled = False
       else:
-        soft_disable_timer -= 1
+        self.soft_disable_timer -= 1
     else:
-      soft_disable_timer = None
+      self.soft_disable_timer = None
 
-    if enable_condition and not enabled and not AM.alertPresent():
+    if enable_condition and not self.enabled and not self.AM.alertPresent():
       print "*** enabling controls"
 
       # beep for enabling
-      AM.add("enable", enabled)
+      self.AM.add("enable", self.enabled)
 
       # enable both lateral and longitudinal controls
-      enabled = True
+      self.enabled = True
 
       # on activation, let's always set v_cruise from where we are, even if PCM ACC is active
-      v_cruise_kph = int(round(max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN)))
+      self.v_cruise_kph = int(round(max(self.CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN)))
 
       # 6 minutes driver you're on
-      awareness_status = 1.0
+      self.awareness_status = 1.0
 
       # reset the PID loops
-      LaC.reset()
+      self.LaC.reset()
       # start long control at actual speed
-      LoC.reset(v_pid = CS.vEgo)
+      self.LoC.reset(v_pid = self.CS.vEgo)
 
     # *** push the alerts to current ***
-    alert_text_1, alert_text_2, visual_alert, audible_alert = AM.process_alerts(cur_time)
-
+    # TODO: remove output, store them inside AM class instead
+    self.alert_text_1, self.alert_text_2, self.visual_alert, self.audible_alert = self.AM.process_alerts(self.cur_time)
+ 
     # ***** control the car *****
-    CC = car.CarControl.new_message()
+    self.CC.enabled = self.enabled
 
-    CC.enabled = enabled
+    self.CC.gas = float(final_gas)
+    self.CC.brake = float(final_brake)
+    self.CC.steeringTorque = float(final_steer)
 
-    CC.gas = float(final_gas)
-    CC.brake = float(final_brake)
-    CC.steeringTorque = float(final_steer)
-
-    CC.cruiseControl.override = True
-    CC.cruiseControl.cancel = bool((not CP.enableCruise) or (not enabled and CS.cruiseState.enabled))    # always cancel if we have an interceptor
+    self.CC.cruiseControl.override = True
+    # always cancel if we have an interceptor
+    self.CC.cruiseControl.cancel = bool(not self.CP.enableCruise or 
+                                        (not self.enabled and self.CS.cruiseState.enabled))
 
     # brake discount removes a sharp nonlinearity
     brake_discount = (1.0 - clip(final_brake*3., 0.0, 1.0))
-    CC.cruiseControl.speedOverride = float(max(0.0, ((LoC.v_pid - .5) * brake_discount)) if CP.enableCruise else 0.0)
+    self.CC.cruiseControl.speedOverride = float(max(0.0, ((self.LoC.v_pid - .5) * brake_discount)) if self.CP.enableCruise else 0.0)
 
     #CC.cruiseControl.accelOverride = float(AC.a_pcm)
     # TODO: fix this
-    CC.cruiseControl.accelOverride = float(1.0)
+    self.CC.cruiseControl.accelOverride = float(1.0)
 
-    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.visualAlert = visual_alert
-    CC.hudControl.audibleAlert = audible_alert
+    self.CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
+    self.CC.hudControl.speedVisible = self.enabled
+    self.CC.hudControl.lanesVisible = self.enabled
+    self.CC.hudControl.leadVisible = self.plan.hasLead
+    self.CC.hudControl.visualAlert = self.visual_alert
+    self.CC.hudControl.audibleAlert = self.audible_alert
 
+    # TODO: remove it from here and put it in state_transition
     # this alert will apply next controls cycle
-    if not CI.apply(CC):
-      AM.add("controlsFailed", enabled)
+    if not self.CI.apply(self.CC):
+      self.AM.add("controlsFailed", self.enabled)
 
-    # broadcast carControl
+  def data_send(self):
+    
+    # broadcast carControl first
     cc_send = messaging.new_message()
     cc_send.init('carControl')
-    cc_send.carControl = CC    # copy?
-    carcontrol.send(cc_send.to_bytes())
+    cc_send.carControl = copy(self.CC)
+    self.carcontrol.send(cc_send.to_bytes())
 
-    prof.checkpoint("CarControl")
+    self.prof.checkpoint("CarControl")
 
+    # broadcast carState
+    cs_send = messaging.new_message()
+    cs_send.init('carState')
+    cs_send.carState = copy(self.CS)
+    self.carstate.send(cs_send.to_bytes())
+    
     # ***** publish state to logger *****
 
     # publish controls state at 100Hz
@@ -344,58 +383,72 @@ 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.alertText1 = alert_text_1
-    dat.live100.alertText2 = alert_text_2
-    dat.live100.awarenessStatus = max(awareness_status, 0.0) if enabled else 0.0
+    dat.live100.rearViewCam = ('reverseGear' in self.CS.errors and self.rear_view_allowed) or self.rear_view_toggle
+    dat.live100.alertText1 = self.alert_text_1
+    dat.live100.alertText2 = self.alert_text_2
+    dat.live100.awarenessStatus = max(self.awareness_status, 0.0) if self.enabled else 0.0
 
     # what packets were used to process
-    dat.live100.canMonoTimes = list(CS.canMonoTimes)
-    #dat.live100.mdMonoTime = PP.logMonoTime
-    #dat.live100.l20MonoTime = AC.logMonoTime
+    dat.live100.canMonoTimes = list(self.CS.canMonoTimes)
+    dat.live100.planMonoTime = self.plan_ts
 
     # if controls is enabled
-    dat.live100.enabled = enabled
+    dat.live100.enabled = self.enabled
 
     # car state
-    dat.live100.vEgo = CS.vEgo
-    dat.live100.angleSteers = CS.steeringAngle
-    dat.live100.steerOverride = CS.steeringPressed
+    dat.live100.vEgo = self.CS.vEgo
+    dat.live100.angleSteers = self.CS.steeringAngle
+    dat.live100.steerOverride = self.CS.steeringPressed
 
     # longitudinal control state
-    dat.live100.vPid = float(LoC.v_pid)
-    dat.live100.vCruise = float(v_cruise_kph)
-    dat.live100.upAccelCmd = float(LoC.Up_accel_cmd)
-    dat.live100.uiAccelCmd = float(LoC.Ui_accel_cmd)
+    dat.live100.vPid = float(self.LoC.v_pid)
+    dat.live100.vCruise = float(self.v_cruise_kph)
+    dat.live100.upAccelCmd = float(self.LoC.Up_accel_cmd)
+    dat.live100.uiAccelCmd = float(self.LoC.Ui_accel_cmd)
 
     # lateral control state
-    dat.live100.yActual = float(LaC.y_actual)
-    dat.live100.yDes = float(LaC.y_des)
-    dat.live100.upSteer = float(LaC.Up_steer)
-    dat.live100.uiSteer = float(LaC.Ui_steer)
+    dat.live100.yActual = float(self.LaC.y_actual)
+    dat.live100.yDes = float(self.LaC.y_des)
+    dat.live100.upSteer = float(self.LaC.Up_steer)
+    dat.live100.uiSteer = float(self.LaC.Ui_steer)
 
     # processed radar state, should add a_pcm?
-    dat.live100.vTargetLead = float(plan.vTarget)
-    dat.live100.aTargetMin = float(plan.aTargetMin)
-    dat.live100.aTargetMax = float(plan.aTargetMax)
-    dat.live100.jerkFactor = float(plan.jerkFactor)
+    dat.live100.vTargetLead = float(self.plan.vTarget)
+    dat.live100.aTargetMin = float(self.plan.aTargetMin)
+    dat.live100.aTargetMax = float(self.plan.aTargetMax)
+    dat.live100.jerkFactor = float(self.plan.jerkFactor)
 
     # log learned angle offset
-    dat.live100.angleOffset = float(angle_offset)
+    dat.live100.angleOffset = float(self.angle_offset)
 
     # lag
-    dat.live100.cumLagMs = -rk.remaining*1000.
+    dat.live100.cumLagMs = -self.rk.remaining*1000.
 
-    live100.send(dat.to_bytes())
+    self.live100.send(dat.to_bytes())
 
-    prof.checkpoint("Live100")
+    self.prof.checkpoint("Live100")
 
+  def wait(self):
     # *** run loop at fixed rate ***
-    if rk.keep_time():
-      prof.display()
+    if self.rk.keep_time():
+      self.prof.display()
+
+
+def controlsd_thread(gctx, rate=100):
+  # start the loop
+  set_realtime_priority(2)
+  CTRLS = Controls(gctx, rate)
+  while 1:
+    CTRLS.data_sample()
+    CTRLS.state_transition()
+    CTRLS.state_control()
+    CTRLS.data_send()
+    CTRLS.wait()
+
 
 def main(gctx=None):
   controlsd_thread(gctx, 100)
 
 if __name__ == "__main__":
   main()
+ 

selfdrive/controls/lib/adaptivecruise.py

@@ -214,28 +214,6 @@ def calc_jerk_factor(d_lead, v_rel):
   return jerk_factor
 
 
-def calc_ttc(d_rel, v_rel, a_rel, v_lead):
-  # this function returns the time to collision (ttc), assuming that a_rel will stay constant
-  # TODO: Review these assumptions.
-  # change sign to rel quantities as it's going to be easier for calculations
-  v_rel = -v_rel
-  a_rel = -a_rel
-
-  # assuming that closing gap a_rel comes from lead vehicle decel, then limit a_rel so that v_lead will get to zero in no sooner than t_decel
-  # this helps overweighting a_rel when v_lead is close to zero.
-  t_decel = 2.
-  a_rel = min(a_rel, v_lead/t_decel)
-
-  delta = v_rel**2 + 2 * d_rel * a_rel
-  # assign an arbitrary high ttc value if there is no solution to ttc
-  if delta < 0.1:
-    ttc = 5.
-  elif math.sqrt(delta) + v_rel < 0.1:
-    ttc = 5.
-  else:
-    ttc = 2 * d_rel / (math.sqrt(delta) + v_rel)
-  return ttc
-
 
 MAX_SPEED_POSSIBLE = 55.
 
@@ -299,18 +277,14 @@ def compute_speed_with_leads(v_ego, angle_steers, v_pid, l1, l2, CP):
 
 
 class AdaptiveCruise(object):
-  def __init__(self, live20):
-    self.live20 = live20
+  def __init__(self):
     self.last_cal = 0.
     self.l1, self.l2 = None, None
-    self.logMonoTime = 0
     self.dead = True
-  def update(self, cur_time, v_ego, angle_steers, v_pid, CP):
-    l20 = messaging.recv_sock(self.live20)
+  def update(self, cur_time, v_ego, angle_steers, v_pid, CP, l20):
     if l20 is not None:
       self.l1 = l20.live20.leadOne
       self.l2 = l20.live20.leadTwo
-      self.logMonoTime = l20.logMonoTime
 
       # TODO: no longer has anything to do with calibration
       self.last_cal = cur_time

selfdrive/controls/lib/alertmanager.py

@@ -1,13 +1,14 @@
 from cereal import car
 from selfdrive.swaglog import cloudlog
+import copy
 
 class ET:
   ENABLE = 0
   NO_ENTRY = 1
   WARNING = 2
-  SOFT_DISABLE = 3
-  IMMEDIATE_DISABLE = 4
-  USER_DISABLE = 5
+  USER_DISABLE = 3
+  SOFT_DISABLE = 4
+  IMMEDIATE_DISABLE = 5
 
 class alert(object):
   def __init__(self, alert_text_1, alert_text_2, alert_type, visual_alert, audible_alert, duration_sound, duration_hud_alert, duration_text):
@@ -34,32 +35,37 @@ class alert(object):
 
 class AlertManager(object):
   alerts = {
-    "enable":             alert("", "",                                            ET.ENABLE,       None,               "beepSingle", .2, 0., 0.),
-    "disable":            alert("", "",                                            ET.USER_DISABLE, None,               "beepSingle", .2, 0., 0.),
-    "pedalPressed":       alert("Comma Unavailable",        "Pedal Pressed",       ET.NO_ENTRY,     "brakePressed",     "chimeDouble", .4, 2., 3.),
-    "driverDistracted":   alert("Take Control to Regain Speed", "User Distracted", ET.WARNING,      "steerRequired", "chimeRepeated", 1., 1., 1.),
-    "steerSaturated":     alert("Take Control", "Steer Control Saturated",         ET.WARNING,      "steerRequired", "chimeSingle", 1., 2., 3.),
-    "overheat":           alert("Take Control Immediately", "System Overheated",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "controlsMismatch":   alert("Take Control Immediately", "Controls Mismatch",   ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "radarCommIssue":     alert("Take Control Immediately", "Radar Comm Issue",    ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "modelCommIssue":     alert("Take Control Immediately", "Model Comm Issue",    ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "controlsFailed":     alert("Take Control Immediately", "Controls Failed",     ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "enable":                alert("", "",                                                    ET.ENABLE,       None,               "beepSingle", .2, 0., 0.),
+    "disable":               alert("", "",                                                    ET.USER_DISABLE, None,               "beepSingle", .2, 0., 0.),
+    "pedalPressed":          alert("Comma Unavailable",        "Pedal Pressed",               ET.NO_ENTRY,     "brakePressed",     "chimeDouble", .4, 2., 3.),
+    "preDriverDistracted":   alert("Take Control ",            "User Distracted",             ET.WARNING,      "steerRequired",    "chimeDouble", .4, 2., 3.),
+    "driverDistracted":      alert("Take Control to Regain Speed", "User Distracted",         ET.WARNING,      "steerRequired", "chimeRepeated", .5, .5, .5),
+    "steerSaturated":        alert("Take Control",             "Turn Exceeds Limit",          ET.WARNING,      "steerRequired", "chimeSingle", 1., 2., 3.),
+    "overheat":              alert("Take Control Immediately", "System Overheated",           ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "controlsMismatch":      alert("Take Control Immediately", "Controls Mismatch",           ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "radarCommIssue":        alert("Take Control Immediately", "Radar Error: Restart the Car",ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "calibrationInvalid":    alert("Take Control Immediately", "Calibration Invalid: Reposition Neo and Recalibrate", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "calibrationInProgress": alert("Take Control Immediately", "Calibration in Progress: ",     ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "modelCommIssue":        alert("Take Control Immediately", "Model Error: Restart the Car",ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "controlsFailed":        alert("Take Control Immediately", "Controls Failed",             ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "fcw":                   alert("", "",                                                    ET.WARNING,           None,            None,            .1, .1, .1),
     # car errors
-    "commIssue":          alert("Take Control Immediately","Communication Issues", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "steerUnavailable":   alert("Take Control Immediately","Steer Error",          ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "steerTemporarilyUnavailable": alert("Take Control", "Steer Temporarily Unavailable",  ET.WARNING,   "steerRequired", "chimeRepeated", 1., 2., 3.),
-    "brakeUnavailable":   alert("Take Control Immediately","Brake Error",          ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "gasUnavailable":     alert("Take Control Immediately","Gas Error",            ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "wrongGear":          alert("Take Control Immediately","Gear not D",           ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "reverseGear":        alert("Take Control Immediately","Car in Reverse",       ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "doorOpen":           alert("Take Control Immediately","Door Open",            ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "espDisabled":        alert("Take Control Immediately","ESP Off",              ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
-    "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
-    "dataNeeded":         alert("Comma Unavailable","Data needed for calibration. Upload drive, try again", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
-    "ethicalDilemma":     alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
-    "startup":            alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
+    "commIssue":             alert("Take Control Immediately","CAN Error: Restart the Car",   ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "steerUnavailable":      alert("Take Control Immediately","Steer Error: Restart the Car", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "steerTempUnavailable":  alert("Take Control", "Steer Temporarily Unavailable",           ET.WARNING,           "steerRequired", "chimeDouble",   .4, 2., 3.),
+    "brakeUnavailable":      alert("Take Control Immediately","Brake Error: Restart the Car", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "gasUnavailable":        alert("Take Control Immediately","Gas Error: Restart the Car",   ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "wrongGear":             alert("Take Control Immediately","Gear not D",                   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "reverseGear":           alert("Take Control Immediately","Car in Reverse",               ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "doorOpen":              alert("Take Control Immediately","Door Open",                    ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "seatbeltNotLatched":    alert("Take Control Immediately","Seatbelt Unlatched",           ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "espDisabled":           alert("Take Control Immediately","ESP Off",                      ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "cruiseDisabled":        alert("Take Control Immediately","Cruise Is Off",                ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "wrongCarMode":          alert("Comma Unavailable","Main Switch Off",                     ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "outOfSpace":            alert("Comma Unavailable","Out of Space",                        ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
+    "dataNeeded":            alert("Comma Unavailable","Data needed for calibration. Upload drive, try again", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
+    "ethicalDilemma":        alert("Take Control Immediately","Ethical Dilemma Detected",     ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "startup":               alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
   }
   def __init__(self):
     self.activealerts = []
@@ -70,25 +76,27 @@ class AlertManager(object):
     return len(self.activealerts) > 0
 
   def alertShouldSoftDisable(self):
-    return len(self.activealerts) > 0 and self.activealerts[0].alert_type == ET.SOFT_DISABLE
+    return len(self.activealerts) > 0 and any(a.alert_type == ET.SOFT_DISABLE for a in self.activealerts)
 
   def alertShouldDisable(self):
-    return len(self.activealerts) > 0 and self.activealerts[0].alert_type >= ET.IMMEDIATE_DISABLE
+    return len(self.activealerts) > 0 and any(a.alert_type in [ET.IMMEDIATE_DISABLE, ET.USER_DISABLE] for a in self.activealerts)
 
-  def add(self, alert_type, enabled = True):
+  def add(self, alert_type, enabled=True, extra_text=''):
     alert_type = str(alert_type)
-    this_alert = self.alerts[alert_type]
-
-    # downgrade the alert if we aren't enabled
-    if not enabled and this_alert.alert_type > ET.NO_ENTRY:
+    this_alert = copy.copy(self.alerts[alert_type])
+    this_alert.alert_text_2 += extra_text
+    # downgrade the alert if we aren't enabled, except if it's FCW, which remains the same 
+    # TODO: remove this 'if' by adding more alerts
+    if not enabled and this_alert.alert_type in [ET.WARNING, ET.SOFT_DISABLE, ET.IMMEDIATE_DISABLE] \
+      and this_alert != self.alerts['fcw']:
       this_alert = alert("Comma Unavailable" if this_alert.alert_text_1 != "" else "", this_alert.alert_text_2, ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.)
 
     # ignore no entries if we are enabled 
-    if enabled and this_alert.alert_type < ET.WARNING:
+    if enabled and this_alert.alert_type in [ET.ENABLE, ET.NO_ENTRY]:
       return
 
-    # if new alert is different, log it
-    if self.current_alert is None or self.current_alert.alert_text_2 != this_alert.alert_text_2:
+    # if new alert is higher priority, log it
+    if self.current_alert is None or this_alert > self.current_alert:
       cloudlog.event('alert_add',
         alert_type=alert_type,
         enabled=enabled)
@@ -101,7 +109,6 @@ class AlertManager(object):
       self.alert_start_time = cur_time
       self.current_alert = self.activealerts[0]
       print self.current_alert
-
     alert_text_1 = ""
     alert_text_2 = ""
     visual_alert = "none"

selfdrive/controls/lib/fcw.py

@@ -0,0 +1,66 @@
+import numpy as np
+from common.realtime import sec_since_boot
+
+#Time to collisions greater than 5s are iognored
+MAX_TTC = 5.
+
+def calc_ttc(l1):
+  # if l1 is None, return max ttc immediately
+  if not l1:
+    return MAX_TTC
+  # this function returns the time to collision (ttc), assuming that 
+  # ARel will stay constant TODO: review this assumptions
+  # change sign to rel quantities as it's going to be easier for calculations
+  vRel = -l1.vRel
+  aRel = -l1.aRel
+
+  # assuming that closing gap ARel comes from lead vehicle decel, 
+  # then limit ARel so that v_lead will get to zero in no sooner than t_decel.
+  # This helps underweighting ARel when v_lead is close to zero.
+  t_decel = 2.
+  aRel = np.minimum(aRel, l1.vLead/t_decel)
+
+  # delta of the quadratic equation to solve for ttc
+  delta = vRel**2 + 2 * l1.dRel * aRel
+
+  # assign an arbitrary high ttc value if there is no solution to ttc
+  if delta < 0.1 or (np.sqrt(delta) + vRel < 0.1):
+    ttc = MAX_TTC
+  else:
+    ttc = np.minimum(2 * l1.dRel / (np.sqrt(delta) + vRel), MAX_TTC)
+  return ttc
+
+class ForwardCollisionWarning(object):
+  def __init__(self, dt):
+    self.last_active = 0.
+    self.violation_time = 0.
+    self.active = False
+    self.dt = dt   # time step
+
+  def process(self, CS, AC):
+    # send an fcw alert if the violation time > violation_thrs
+    violation_thrs = 0.3  # fcw turns on after a continuous violation for this time
+    fcw_t_delta = 5.         # no more than one fcw alert within this time
+    a_acc_on  = -2.0         # with system on, above this limit of desired decel, we should trigger fcw
+    a_acc_off = -2.5         # with system off, above this limit of desired decel, we should trigger fcw
+    ttc_thrs = 2.5           # ttc threshold for fcw
+    v_fcw_min = 2.           # no fcw below 2m/s
+    steer_angle_th = 40.     # deg, no fcw above this steer angle
+    cur_time = sec_since_boot()
+ 
+    ttc = calc_ttc(AC.l1)
+    a_fcw = a_acc_on if CS.cruiseState.enabled else a_acc_off
+
+    # increase violation time if we want to decelerate quite fast
+    if AC.l1 and ( \
+        (CS.vEgo > v_fcw_min) and (CS.vEgo > AC.v_target_lead) and (AC.a_target[0] < a_fcw) \
+        and not CS.brakePressed and ttc < ttc_thrs and abs(CS.steeringAngle) < steer_angle_th \
+        and AC.l1.fcw):
+      self.violation_time = np.minimum(self.violation_time + self.dt, violation_thrs)
+    else:
+      self.violation_time = np.maximum(self.violation_time - 2*self.dt, 0)
+ 
+    # fire FCW  
+    self.active = self.violation_time >= violation_thrs and cur_time > (self.last_active + fcw_t_delta)
+    if self.active:
+      self.last_active = cur_time

selfdrive/controls/lib/latcontrol.py

@@ -1,6 +1,6 @@
 import math
 import numpy as np
-from common.numpy_fast import clip
+from common.numpy_fast import clip, interp
 
 def calc_curvature(v_ego, angle_steers, CP, angle_offset=0):
   deg_to_rad = np.pi/180.
@@ -8,15 +8,28 @@ def calc_curvature(v_ego, angle_steers, CP, angle_offset=0):
   curvature = angle_steers_rad/(CP.steerRatio * CP.wheelBase * (1. + CP.slipFactor * v_ego**2))
   return curvature
 
-def calc_d_lookahead(v_ego):
+_K_CURV_V = [1., 0.6]
+_K_CURV_BP = [0., 0.002]
+
+def calc_d_lookahead(v_ego, d_poly):
   #*** this function computes how far too look for lateral control
-  # howfar we look ahead is function of speed
+  # howfar we look ahead is function of speed and how much curvy is the path
   offset_lookahead = 1.
-  coeff_lookahead = 4.4
-  # sqrt on speed is needed to keep, for a given curvature, the y_offset 
+  k_lookahead = 7.
+  # integrate abs value of second derivative of poly to get a measure of path curvature
+  pts_len = 50.  # m
+  if len(d_poly)>0:
+    pts = np.polyval([6*d_poly[0], 2*d_poly[1]], np.arange(0, pts_len))
+  else:
+    pts = 0.
+  curv = np.sum(np.abs(pts))/pts_len
+
+  k_curv = interp(curv, _K_CURV_BP, _K_CURV_V)
+
+  # sqrt on speed is needed to keep, for a given curvature, the y_offset
   # proportional to speed. Indeed, y_offset is prop to d_lookahead^2
-  # 26m at 25m/s
-  d_lookahead = offset_lookahead + math.sqrt(max(v_ego, 0)) * coeff_lookahead
+  # 36m at 25m/s
+  d_lookahead = offset_lookahead + math.sqrt(max(v_ego, 0)) * k_lookahead * k_curv
   return d_lookahead
 
 def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, CP, angle_offset):
@@ -31,7 +44,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
                         steer_override, sat_count, enabled, Kp, Ki, rate):
 
   sat_count_rate = 1./rate
-  sat_count_limit = 0.8       # after 0.8s of continuous saturation, an alert will be sent
+  sat_count_limit = 0.8      # after 0.8s of continuous saturation, an alert will be sent
 
   error_steer = y_des - y_actual
   Ui_unwind_speed = 0.3/rate   #.3 per second
@@ -101,8 +114,8 @@ class LatControl(object):
 
     steer_max = 1.0
 
-    # how far we look ahead is function of speed
-    d_lookahead = calc_d_lookahead(v_ego)
+    # how far we look ahead is function of speed and desired path
+    d_lookahead = calc_d_lookahead(v_ego, d_poly)
 
     # calculate actual offset at the lookahead point
     self.y_actual, _ = calc_lookahead_offset(v_ego, angle_steers,

selfdrive/controls/lib/pathplanner.py

@@ -39,21 +39,35 @@ def calc_desired_path(l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, speed):
   d_poly =  list((c_poly*c_prob + p_poly*p_prob*p_weight ) / (c_prob + p_prob*p_weight))
   return d_poly, c_poly, c_prob
 
-class PathPlanner(object):
+class OptPathPlanner(object):
   def __init__(self, model):
     self.model = model
     self.dead = True
     self.d_poly = [0., 0., 0., 0.]
     self.last_model = 0.
-    self.logMonoTime = 0
+    self._path_pinv = compute_path_pinv()
+
+  def update(self, cur_time, v_ego, md):
+    if md is not None:
+      # simple compute of the center of the lane
+      pts = [(x+y)/2 for x,y in zip(md.model.leftLane.points, md.model.rightLane.points)]
+      self.d_poly = model_polyfit(pts, self._path_pinv)
+
+      self.last_model = cur_time
+      self.dead = False
+    elif cur_time - self.last_model > 0.5:
+      self.dead = True
+
+class PathPlanner(object):
+  def __init__(self):
+    self.dead = True
+    self.d_poly = [0., 0., 0., 0.]
+    self.last_model = 0.
     self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
     self._path_pinv = compute_path_pinv()
 
-  def update(self, cur_time, v_ego):
-    md = messaging.recv_sock(self.model)
-
+  def update(self, cur_time, v_ego, md):
     if md is not None:
-      self.logMonoTime = md.logMonoTime
       p_poly = model_polyfit(md.model.path.points, self._path_pinv)       # predicted path
       l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv)   # left line
       r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv)  # right line

selfdrive/controls/lib/planner.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python
+import os
+import zmq
+import numpy as np
+import selfdrive.messaging as messaging
+
+from selfdrive.services import service_list
+from common.realtime import sec_since_boot
+from common.params import Params
+
+from selfdrive.swaglog import cloudlog
+from cereal import car
+
+from selfdrive.controls.lib.pathplanner import OptPathPlanner
+from selfdrive.controls.lib.pathplanner import PathPlanner
+from selfdrive.controls.lib.adaptivecruise import AdaptiveCruise
+from selfdrive.controls.lib.fcw import ForwardCollisionWarning
+
+_DT = 0.01   # 100Hz
+
+class Planner(object):
+  def __init__(self, CP):
+    context = zmq.Context()
+    self.CP = CP
+    self.live20 = messaging.sub_sock(context, service_list['live20'].port)
+    self.model = messaging.sub_sock(context, service_list['model'].port)
+  
+    self.plan = messaging.pub_sock(context, service_list['plan'].port)
+  
+    self.last_md_ts = 0
+    self.last_l20_ts = 0
+
+    if os.getenv("OPT") is not None:
+      self.PP = OptPathPlanner(self.model)
+    else:
+      self.PP = PathPlanner()
+    self.AC = AdaptiveCruise()
+    self.FCW = ForwardCollisionWarning(_DT)
+
+  # this runs whenever we get a packet that can change the plan
+  
+  def update(self, CS, LoC):
+    cur_time = sec_since_boot()
+
+    md = messaging.recv_sock(self.model)
+    if md is not None:
+      self.last_md_ts = md.logMonoTime
+    l20 = messaging.recv_sock(self.live20)
+    if l20 is not None:
+      self.last_l20_ts = l20.logMonoTime
+
+    self.PP.update(cur_time, CS.vEgo, md)
+
+    # LoC.v_pid -> CS.vEgo
+    # TODO: is this change okay?
+    self.AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid, self.CP, l20)
+
+    # **** send the plan ****
+    plan_send = messaging.new_message()
+    plan_send.init('plan')
+
+    plan_send.plan.mdMonoTime = self.last_md_ts
+    plan_send.plan.l20MonoTime = self.last_l20_ts
+
+    # lateral plan
+    plan_send.plan.lateralValid = not self.PP.dead
+    if plan_send.plan.lateralValid:
+      plan_send.plan.dPoly = map(float, self.PP.d_poly)
+
+    # longitudal plan
+    plan_send.plan.longitudinalValid = not self.AC.dead
+    if plan_send.plan.longitudinalValid:
+      plan_send.plan.vTarget = float(self.AC.v_target_lead)
+      plan_send.plan.aTargetMin = float(self.AC.a_target[0])
+      plan_send.plan.aTargetMax = float(self.AC.a_target[1])
+      plan_send.plan.jerkFactor = float(self.AC.jerk_factor)
+      plan_send.plan.hasLead = self.AC.has_lead
+
+    # compute risk of collision events: fcw
+    self.FCW.process(CS, self.AC)
+    plan_send.plan.fcw = bool(self.FCW.active)
+
+    self.plan.send(plan_send.to_bytes())
+    return plan_send

selfdrive/controls/lib/radar_helpers.py

@@ -205,7 +205,7 @@ class Cluster(object):
     lead.vLeadK = float(self.vLeadK)
     lead.aLeadK = float(self.aLeadK)
     lead.status = True
-    lead.fcw = False
+    lead.fcw = self.is_potential_fcw()
 
   def __str__(self):
     ret = "x: %7.2f  y: %7.2f  v: %7.2f  a: %7.2f" % (self.dRel, self.yRel, self.vRel, self.aRel)
@@ -240,18 +240,18 @@ class Cluster(object):
 
     d_path = max(d_path + lat_corr, 0)
 
-    if d_path < 1.5 and not self.stationary and not self.oncoming:
-      return True
-    else:
-      return False
+    return d_path < 1.5 and not self.stationary and not self.oncoming
 
   def is_potential_lead2(self, lead_clusters):
     if len(lead_clusters) > 0:
       lead_cluster = lead_clusters[0]
-      # check if the new lead is too close and roughly at the same speed of the first lead: it might just be the second axle of the same vehicle
-      if (self.dRel - lead_cluster.dRel) < 8. and abs(self.vRel - lead_cluster.vRel) < 1.:
-        return False
-      else:
-        return True
+      # check if the new lead is too close and roughly at the same speed of the first lead:
+      # it might just be the second axle of the same vehicle
+      return (self.dRel - lead_cluster.dRel) > 8. or abs(self.vRel - lead_cluster.vRel) > 1.
     else:
       return False
+
+  def is_potential_fcw(self):
+    # is this cluster trustrable enough for triggering fcw?
+    # fcw can trigger only on clusters that have been fused vision model for at least 20 frames
+    return self.vision_cnt >= 20

selfdrive/controls/plannerd.py

@@ -1,80 +0,0 @@
-#!/usr/bin/env python
-import os
-import zmq
-import numpy as np
-import selfdrive.messaging as messaging
-
-from selfdrive.services import service_list
-from common.realtime import sec_since_boot, set_realtime_priority
-from common.params import Params
-
-from selfdrive.swaglog import cloudlog
-from cereal import car
-
-from selfdrive.controls.lib.pathplanner import PathPlanner
-from selfdrive.controls.lib.adaptivecruise import AdaptiveCruise
-
-def plannerd_thread(gctx):
-  context = zmq.Context()
-  poller = zmq.Poller()
-
-  carstate = messaging.sub_sock(context, service_list['carState'].port, poller)
-  live20 = messaging.sub_sock(context, service_list['live20'].port)
-  model = messaging.sub_sock(context, service_list['model'].port)
-
-  plan = messaging.pub_sock(context, service_list['plan'].port)
-
-  # wait for stats about the car to come in from controls
-  cloudlog.info("plannerd is waiting for CarParams")
-  CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
-  cloudlog.info("plannerd got CarParams")
-
-  CS = None
-  PP = PathPlanner(model)
-  AC = AdaptiveCruise(live20)
-
-  # start the loop
-  set_realtime_priority(2)
-
-  # this runs whenever we get a packet that can change the plan
-  while True:
-    polld = poller.poll(timeout=1000)
-    for sock, mode in polld:
-      if mode != zmq.POLLIN or sock != carstate:
-        continue
-
-      cur_time = sec_since_boot()
-      CS = messaging.recv_sock(carstate).carState
-
-      PP.update(cur_time, CS.vEgo)
-
-      # LoC.v_pid -> CS.vEgo
-      # TODO: is this change okay?
-      AC.update(cur_time, CS.vEgo, CS.steeringAngle, CS.vEgo, CP)
-
-      # **** send the plan ****
-      plan_send = messaging.new_message()
-      plan_send.init('plan')
-
-      # lateral plan
-      plan_send.plan.lateralValid = not PP.dead
-      if plan_send.plan.lateralValid:
-        plan_send.plan.dPoly = map(float, PP.d_poly)
-
-      # longitudal plan
-      plan_send.plan.longitudinalValid = not AC.dead
-      if plan_send.plan.longitudinalValid:
-        plan_send.plan.vTarget = float(AC.v_target_lead)
-        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_send.to_bytes())
-
-
-def main(gctx=None):
-  plannerd_thread(gctx)
-
-if __name__ == "__main__":
-  main()
-

selfdrive/controls/radard.py

@@ -20,6 +20,7 @@ from common.params import Params
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
 from common.kalman.ekf import EKF, SimpleSensor
 
+VISION_ONLY = False
 
 #vision point
 DIMSV = 2
@@ -62,9 +63,12 @@ def radard_thread(gctx=None):
   model = messaging.sub_sock(context, service_list['model'].port)
   live100 = messaging.sub_sock(context, service_list['live100'].port)
 
-  PP = PathPlanner(model)
+  PP = PathPlanner()
   RI = RadarInterface()
 
+  last_md_ts = 0
+  last_l100_ts = 0
+
   # *** publish live20 and liveTracks
   live20 = messaging.pub_sock(context, service_list['live20'].port)
   liveTracks = messaging.pub_sock(context, service_list['liveTracks'].port)
@@ -109,18 +113,24 @@ def radard_thread(gctx=None):
       v_ego_array = np.append(v_ego_array, [[v_ego], [float(rk.frame)/rate]], 1)
       v_ego_array = v_ego_array[:, 1:]
 
+      last_l100_ts = l100.logMonoTime
+
     if v_ego is None:
       continue
 
+    md = messaging.recv_sock(model)
+    if md is not None:
+      last_md_ts = md.logMonoTime
+
     # *** get path prediction from the model ***
-    PP.update(sec_since_boot(), v_ego)
+    PP.update(sec_since_boot(), v_ego, md)
 
     # run kalman filter only if prob is high enough
     if PP.lead_prob > 0.7:
       ekfv.update(speedSensorV.read(PP.lead_dist, covar=PP.lead_var))
       ekfv.predict(tsv)
       ar_pts[VISION_POINT] = (float(ekfv.state[XV]), np.polyval(PP.d_poly, float(ekfv.state[XV])),
-                              float(ekfv.state[SPEEDV]), np.nan, PP.logMonoTime, np.nan, sec_since_boot())
+                              float(ekfv.state[SPEEDV]), np.nan, last_md_ts, np.nan, sec_since_boot())
     else:
       ekfv.state[XV] = PP.lead_dist
       ekfv.covar = (np.diag([PP.lead_var, ekfv.var_init]))
@@ -142,7 +152,9 @@ def radard_thread(gctx=None):
     # *** compute the tracks ***
     for ids in ar_pts:
       # ignore the vision point for now
-      if ids == VISION_POINT:
+      if ids == VISION_POINT and not VISION_ONLY:
+        continue
+      elif ids != VISION_POINT and VISION_ONLY:
         continue
       rpt = ar_pts[ids]
 
@@ -212,8 +224,9 @@ def radard_thread(gctx=None):
     # *** publish live20 ***
     dat = messaging.new_message()
     dat.init('live20')
-    dat.live20.mdMonoTime = PP.logMonoTime
+    dat.live20.mdMonoTime = last_md_ts
     dat.live20.canMonoTimes = list(rr.canMonoTimes)
+    dat.live20.l100MonoTime = last_l100_ts
     if lead_len > 0:
       lead_clusters[0].toLive20(dat.live20.leadOne)
       if lead2_len > 0:

selfdrive/debug/test_carcontroller.py

@@ -1,17 +1,17 @@
 #!/usr/bin/env python
-from evdev import InputDevice
-from select import select
 import time
 import numpy as np
 import zmq
+from evdev import InputDevice
+from select import select
 
 from cereal import car
+from common.realtime import Ratekeeper
 
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
-from common.realtime import Ratekeeper
+from selfdrive.car import get_car
 
-from common.fingerprints import fingerprint
 
 if __name__ == "__main__":
   # ***** connect to joystick *****
@@ -27,10 +27,7 @@ if __name__ == "__main__":
   logcan = messaging.sub_sock(context, service_list['can'].port)
   sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
 
-  CP = fingerprint(logcan)
-  exec('from selfdrive.car.'+CP.carName+'.interface import CarInterface')
-
-  CI = CarInterface(CP, logcan, sendcan)
+  CI, CP = get_car(logcan, sendcan)
 
   rk = Ratekeeper(100)
 
@@ -60,7 +57,7 @@ if __name__ == "__main__":
     # **** handle car ****
 
     CS = CI.update()
-    print CS
+    #print CS
 
     CC = car.CarControl.new_message()
 
@@ -68,7 +65,7 @@ if __name__ == "__main__":
 
     CC.gas = float(np.clip(-axis_values[1], 0, 1.0))
     CC.brake = float(np.clip(axis_values[1], 0, 1.0))
-    CC.steeringTorque = float(axis_values[0])
+    CC.steeringTorque = float(-axis_values[0])
 
     CC.hudControl.speedVisible = bool(button_values[1])
     CC.hudControl.lanesVisible = bool(button_values[2])
@@ -83,7 +80,7 @@ if __name__ == "__main__":
     CC.hudControl.visualAlert = "none"
     CC.hudControl.audibleAlert = "none"
 
-    print CC
+    #print CC
 
     if not CI.apply(CC):
       print "CONTROLS FAILED"

selfdrive/debug/test_carstate.py

@@ -5,7 +5,7 @@ import zmq
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
 
-from common.fingerprints import fingerprint
+from selfdrive.car import get_car
 
 def bpressed(CS, btype):
   for b in CS.buttonEvents:
@@ -17,10 +17,7 @@ def test_loop():
   context = zmq.Context()
   logcan = messaging.sub_sock(context, service_list['can'].port)
 
-  CP = fingerprint(logcan)
-  exec('from selfdrive.car.'+CP.carName+'.interface import CarInterface')
-
-  CI = CarInterface(CP, logcan, None)
+  CI, CP = get_car(logcan)
 
   state = 0
 

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

@@ -117,7 +117,12 @@ class Uploader(object):
       if name in ["rlog", "rlog.bz2"]:
         return (key, fn, 0)
 
-    # then upload camera files no not on wifi
+    # then upload compressed camera file
+    for name, key, fn in self.gen_upload_files():
+      if name in ["fcamera.hevc"]:
+        return (key, fn, 1)
+
+    # then upload other files
     for name, key, fn in self.gen_upload_files():
       if not name.endswith('.lock') and not name.endswith(".tmp"):
         return (key, fn, 1)
@@ -131,10 +136,10 @@ class Uploader(object):
       url_resp_json = json.loads(url_resp.text)
       url = url_resp_json['url']
       headers = url_resp_json['headers']
-      cloudlog.info({"upload_url v1.1", url, str(headers)})
+      cloudlog.info("upload_url v1.1 %s %s", url, str(headers))
 
       if fake_upload:
-        print "*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url
+        cloudlog.info("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url)
         class FakeResponse(object):
           def __init__(self):
             self.status_code = 200
@@ -208,7 +213,7 @@ 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 +259,7 @@ 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/logmessaged.py

@@ -7,7 +7,7 @@ import selfdrive.messaging as messaging
 def main(gctx):
   # setup logentries. we forward log messages to it
   le_token = "e8549616-0798-4d7e-a2ca-2513ae81fa17"
-  le_handler = LogentriesHandler(le_token, use_tls=False)
+  le_handler = LogentriesHandler(le_token, use_tls=False, verbose=False)
 
   le_level = 20 #logging.INFO
 

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
@@ -34,11 +36,12 @@ from common.params import Params
 
 from selfdrive.loggerd.config import ROOT
 
+BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
+
 # comment out anything you don't want to run
 managed_processes = {
   "uploader": "selfdrive.loggerd.uploader",
   "controlsd": "selfdrive.controls.controlsd",
-  "plannerd": "selfdrive.controls.plannerd",
   "radard": "selfdrive.controls.radard",
   "loggerd": ("loggerd", ["./loggerd"]),
   "logmessaged": "selfdrive.logmessaged",
@@ -51,6 +54,8 @@ managed_processes = {
   "sensord": ("sensord", ["./sensord"]), }
 
 running = {}
+def get_running():
+  return running
 
 # due to qualcomm kernel bugs SIGKILLing visiond sometimes causes page table corruption
 unkillable_processes = ['visiond']
@@ -60,7 +65,6 @@ interrupt_processes = []
 
 car_started_processes = [
   'controlsd',
-  'plannerd',
   'loggerd',
   'sensord',
   'radard',
@@ -112,7 +116,7 @@ def start_managed_process(name):
     running[name] = Process(name=name, target=launcher, args=(proc, gctx))
   else:
     pdir, pargs = proc
-    cwd = os.path.dirname(os.path.realpath(__file__))
+    cwd = os.path.join(BASEDIR, "selfdrive")
     if pdir is not None:
       cwd = os.path.join(cwd, pdir)
     cloudlog.info("starting process %s" % name)
@@ -183,15 +187,34 @@ def manager_init():
   cloudlog.info("dongle id is " + dongle_id)
   os.environ['DONGLE_ID'] = dongle_id
 
-  cloudlog.bind_global(dongle_id=dongle_id, version=version)
-  crash.bind_user(id=dongle_id)
-  crash.bind_extra(version=version)
+  dirty = subprocess.call(["git", "diff-index", "--quiet", "origin/release", "--"]) != 0
+  cloudlog.info("dirty is %d" % dirty)
+  if not dirty:
+    os.environ['CLEAN'] = '1'
 
-  os.system("mkdir -p "+ROOT)
+  cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty)
+  crash.bind_user(id=dongle_id)
+  crash.bind_extra(version=version, dirty=dirty)
+
+  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
 
@@ -217,16 +240,11 @@ def manager_thread():
 
   # flash the device
   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)
     # flash the board
-    boarddir = os.path.dirname(os.path.abspath(__file__))+"/../panda/board/"
+    boarddir = os.path.join(BASEDIR, "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")
 
@@ -324,8 +342,12 @@ def get_installed_apks():
 
 # optional, build the c++ binaries and preimport the python for speed
 def manager_prepare():
+  # update submodules
+  system("cd %s && git submodule init panda opendbc pyextra" % BASEDIR)
+  system("cd %s && git submodule update panda opendbc pyextra" % BASEDIR)
+
   # build cereal first
-  subprocess.check_call(["make", "-j4"], cwd="../cereal")
+  subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, "cereal"))
 
   # build all processes
   os.chdir(os.path.dirname(os.path.abspath(__file__)))
@@ -348,14 +370,14 @@ def manager_prepare():
 
   # install apks
   installed = get_installed_apks()
-  for app in os.listdir("../apk/"):
+  for app in os.listdir(os.path.join(BASEDIR, "apk/")):
     if ".apk" in app:
       app = app.split(".apk")[0]
       if app not in installed:
         installed[app] = None
   cloudlog.info("installed apks %s" % (str(installed), ))
   for app in installed:
-    apk_path = "../apk/"+app+".apk"
+    apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
     if os.path.isfile(apk_path):
       h1 = hashlib.sha1(open(apk_path).read()).hexdigest()
       h2 = None
@@ -421,9 +443,27 @@ def main():
 
   params = Params()
   params.manager_start()
-  manager_init()
-  manager_prepare()
-  
+
+  # set unset params
+  if params.get("IsMetric") is None:
+    params.put("IsMetric", "0")
+  if params.get("IsRearViewMirror") is None:
+    params.put("IsRearViewMirror", "1")
+
+  # put something on screen while we set things up
+  if os.getenv("PREPAREONLY") is not None:
+    spinner_proc = None
+  else:
+    spinner_proc = subprocess.Popen(["./spinner", "loading openpilot..."],
+      cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+      close_fds=True)
+  try:
+    manager_init()
+    manager_prepare()
+  finally:
+    if spinner_proc:
+      spinner_proc.terminate()
+
   if os.getenv("PREPAREONLY") is not None:
     sys.exit(0)
 

selfdrive/radar/nidec/interface.py

@@ -1,14 +1,21 @@
 #!/usr/bin/env python
+import os
 import numpy as np
+
 from selfdrive.car.honda.can_parser import CANParser
+from selfdrive.can.parser import CANParser as CANParserC
+
 from selfdrive.boardd.boardd import can_capnp_to_can_list
 
 from cereal import car
+from common.realtime import sec_since_boot
 
 import zmq
 from selfdrive.services import service_list
 import selfdrive.messaging as messaging
 
+NEW_CAN = os.getenv("OLD_CAN") is None
+
 def _create_radard_can_parser():
   dbc_f = 'acura_ilx_2016_nidec.dbc'
   radar_messages = range(0x430, 0x43A) + range(0x440, 0x446)
@@ -17,7 +24,10 @@ def _create_radard_can_parser():
                 [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)
   checks = zip(radar_messages, [20]*16)
 
-  return CANParser(dbc_f, signals, checks)
+  if NEW_CAN:
+    return CANParserC(os.path.splitext(dbc_f)[0], signals, checks, 1)
+  else:
+    return CANParser(dbc_f, signals, checks)
 
 class RadarInterface(object):
   def __init__(self):
@@ -33,19 +43,28 @@ class RadarInterface(object):
 
   def update(self):
     canMonoTimes = []
-    can_pub_radar = []
 
-    # TODO: can hang if no packets show up
-    while 1:
-      for a in messaging.drain_sock(self.logcan, wait_for_one=True):
-        canMonoTimes.append(a.logMonoTime)
-        can_pub_radar.extend(can_capnp_to_can_list(a.can, [1, 3]))
+    if NEW_CAN:
+      updated_messages = set()
+      while 1:
+        tm = int(sec_since_boot() * 1e9)
+        updated_messages.update(self.rcp.update(tm, True))
+        if 0x445 in updated_messages:
+          break
+    else:
+      can_pub_radar = []
 
-      # only run on the 0x445 packets, used for timing
-      if any(x[0] == 0x445 for x in can_pub_radar):
-        break
+      # TODO: can hang if no packets show up
+      while 1:
+        for a in messaging.drain_sock(self.logcan, wait_for_one=True):
+          canMonoTimes.append(a.logMonoTime)
+          can_pub_radar.extend(can_capnp_to_can_list(a.can, [1, 3]))
 
-    updated_messages = self.rcp.update_can(can_pub_radar)
+        # only run on the 0x445 packets, used for timing
+        if any(x[0] == 0x445 for x in can_pub_radar):
+          break
+
+      updated_messages = self.rcp.update_can(can_pub_radar)
 
     ret = car.RadarState.new_message()
     errors = []
@@ -56,6 +75,7 @@ class RadarInterface(object):
 
     for ii in updated_messages:
       cpt = self.rcp.vl[ii]
+      #print cpt
       if cpt['LONG_DIST'] < 255:
         if ii not in self.pts or cpt['NEW_TRACK']:
           self.pts[ii] = car.RadarState.RadarPoint.new_message()

selfdrive/service_list.yaml

@@ -41,6 +41,9 @@ navUpdate: [8028, true]
 qcomGnss: [8029, true]
 lidarPts: [8030, true]
 procLog: [8031, true]
+gpsLocationExternal: [8032, true]
+ubloxGnss: [8033, true]
+testModel: [8040, false]
 
 # manager -- base process to manage starting and stopping of all others
 #   subscribes: health

selfdrive/test/plant/plant.py

@@ -5,7 +5,7 @@ import struct
 import zmq
 import numpy as np
 
-from dbcs import DBC_PATH
+from opendbc import DBC_PATH
 
 from common.realtime import Ratekeeper
 
@@ -143,6 +143,10 @@ class Plant(object):
 
     self.cp = get_car_can_parser()
 
+  def close(self):
+    Plant.logcan.close()
+    Plant.model.close()
+
   def speed_sensor(self, speed):
     if speed<0.3:
       return 0
@@ -152,7 +156,7 @@ class Plant(object):
   def current_time(self):
     return float(self.rk.frame) / self.rate
 
-  def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0):
+  def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0, publish_model = True):
     # dbc_f, sgs, ivs, msgs, cks_msgs, frqs = initialize_can_struct(self.civic, self.brake_only)
     cp2 = get_can_parser(fake_car_params())
     sgs = cp2._sgs
@@ -198,7 +202,7 @@ class Plant(object):
       acceleration = 0
 
     # ******** lateral ********
-    self.angle_steer -= steer_torque
+    self.angle_steer -= (steer_torque/10.0) * self.ts
 
     # *** radar model ***
     if self.lead_relevancy:
@@ -228,7 +232,6 @@ class Plant(object):
            # interceptor_gas
            0,0]
 
-
     # TODO: publish each message at proper frequency
     can_msgs = []
     for msg in set(msgs):
@@ -261,18 +264,22 @@ class Plant(object):
     Plant.logcan.send(can_list_to_can_capnp(can_msgs).to_bytes())
 
     # ******** publish a fake model going straight ********
-    md = messaging.new_message()
-    md.init('model')
-    md.model.frameId = 0
-    for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
-      x.points = [0.0]*50
-      x.prob = 1.0
-      x.std = 1.0
-    # fake values?
-    Plant.model.send(md.to_bytes())
-
+    if publish_model:
+      md = messaging.new_message()
+      md.init('model')
+      md.model.frameId = 0
+      for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
+        x.points = [0.0]*50
+        x.prob = 1.0
+        x.std = 1.0
+      # fake values?
+      Plant.model.send(md.to_bytes())
 
     # ******** update prevs ********
+    self.speed = speed
+    self.distance = distance
+    self.distance_lead = distance_lead
+
     self.speed_prev = speed
     self.distance_prev = distance
     self.distance_lead_prev = distance_lead

selfdrive/test/plant/runtest.sh

@@ -1,12 +1,14 @@
 #!/bin/bash
+
+export OPTEST=1
+export OLD_CAN=1
+
 pushd ../../controls
 ./controlsd.py &
 pid1=$!
 ./radard.py &
 pid2=$!
-./plannerd.py &
-pid3=$!
-trap "trap - SIGTERM && kill $pid1 && kill $pid2 && kill $pid3" SIGINT SIGTERM EXIT
+trap "trap - SIGTERM && kill $pid1 && kill $pid2" SIGINT SIGTERM EXIT
 popd
 mkdir -p out
 MPLBACKEND=svg ./runtracks.py out

selfdrive/test/test_openpilot.py

@@ -0,0 +1,102 @@
+import os
+os.environ['FAKEUPLOAD'] = "1"
+
+from common.testing import phone_only
+from selfdrive.manager import manager_init, manager_prepare
+from selfdrive.manager import start_managed_process, kill_managed_process, get_running
+from selfdrive.manager import manage_baseui
+from selfdrive.config import CruiseButtons
+from functools import wraps
+import time
+
+DID_INIT = False
+
+# must run first
+@phone_only
+def test_manager_prepare():
+  global DID_INIT
+  manager_init()
+  manager_prepare()
+  DID_INIT = True
+
+def with_processes(processes):
+  def wrapper(func):
+    @wraps(func)
+    def wrap():
+      if not DID_INIT:
+        test_manager_prepare()
+
+      # start and assert started
+      [start_managed_process(p) for p in processes]
+      assert all(get_running()[name].exitcode is None for name in processes)
+
+      # call the function
+      func()
+
+      # assert processes are still started
+      assert all(get_running()[name].exitcode is None for name in processes)
+
+      # kill and assert all stopped
+      [kill_managed_process(p) for p in processes]
+      assert len(get_running()) == 0
+    return wrap
+  return wrapper
+
+@phone_only
+@with_processes(['controlsd', 'radard'])
+def test_controls():
+  from selfdrive.test.plant.plant import Plant
+
+  # start the fake car for 2 seconds
+  plant = Plant(100)
+  for i in range(200):
+    if plant.rk.frame >= 20 and plant.rk.frame <= 25:
+      cruise_buttons = CruiseButtons.RES_ACCEL
+      # rolling forward
+      assert plant.speed > 0
+    else:
+      cruise_buttons = 0
+    plant.step(cruise_buttons = cruise_buttons)
+  plant.close()
+
+  # assert that we stopped
+  assert plant.speed == 0.0
+
+@phone_only
+@with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])
+def test_logging():
+  print "LOGGING IS SET UP"
+  time.sleep(1.0)
+
+@phone_only
+@with_processes(['visiond'])
+def test_visiond():
+  print "VISIOND IS SET UP"
+  time.sleep(5.0)
+
+@phone_only
+@with_processes(['sensord'])
+def test_sensord():
+  print "SENSORS ARE SET UP"
+  time.sleep(1.0)
+
+@phone_only
+@with_processes(['ui'])
+def test_ui():
+  print "RUNNING UI"
+  time.sleep(1.0)
+
+# will have one thing to upload if loggerd ran
+# TODO: assert it actually uploaded
+@phone_only
+@with_processes(['uploader'])
+def test_uploader():
+  print "UPLOADER"
+  time.sleep(10.0)
+
+@phone_only
+def test_baseui():
+  manage_baseui(True)
+  time.sleep(10.0)
+  manage_baseui(False)
+

selfdrive/tombstoned.py

@@ -41,7 +41,7 @@ def report_tombstone(fn, client):
     message += parsedict.get('abort') or ''
   else:
     parsedict = {}
-    message = fn
+    message = fn+"\n"+dat[:1024]
 
   client.send(
     event_id=uuid.uuid4().hex,
@@ -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/.gitignore

@@ -0,0 +1 @@
+ui

selfdrive/ui/Makefile

@@ -36,6 +36,7 @@ OBJS = ui.o \
        ../common/params.o \
        ../common/util.o \
        ../common/touch.o \
+       ../common/swaglog.o \
        $(PHONELIBS)/nanovg/nanovg.o \
        $(PHONELIBS)/json/src/json.o \
        $(CEREAL_OBJS)

selfdrive/ui/spinner/spinner.c

@@ -0,0 +1,77 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <math.h>
+#include <unistd.h>
+#include <assert.h>
+
+#include <GLES3/gl3.h>
+#include <EGL/eglext.h>
+
+#include "nanovg.h"
+#define NANOVG_GLES3_IMPLEMENTATION
+#include "nanovg_gl.h"
+#include "nanovg_gl_utils.h"
+
+#include "common/framebuffer.h"
+
+
+int main(int argc, char** argv) {
+  int err;
+
+  const char* spintext = NULL;
+  if (argc >= 2) {
+    spintext = argv[1];
+  }
+
+  // spinner
+  int fb_w, fb_h;
+  EGLDisplay display;
+  EGLSurface surface;
+  FramebufferState *fb = framebuffer_init("spinner", 0x00001000, false,
+                     &display, &surface, &fb_w, &fb_h);
+  assert(fb);
+
+  NVGcontext *vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES);
+  assert(vg);
+
+  int font = nvgCreateFont(vg, "Bold", "../../assets/courbd.ttf");
+  assert(font >= 0);
+
+  for (int cnt = 0; ; cnt++) {
+    glClearColor(0.1, 0.1, 0.1, 1.0);
+    glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
+
+
+    for (int k=0; k<3; k++) {
+      float ang = (2*M_PI * (float)cnt / 120.0) + (k / 3.0) * 2*M_PI;
+
+      nvgBeginPath(vg);
+        nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+        nvgStrokeWidth(vg, 5);
+        
+        nvgMoveTo(vg, fb_w/2 + 50 * cosf(ang), fb_h/2 + 50 * sinf(ang));
+        nvgLineTo(vg, fb_w/2 + 15 * cosf(ang), fb_h/2 + 15 * sinf(ang));
+        nvgMoveTo(vg, fb_w/2 - 15 * cosf(ang), fb_h/2 - 15 * sinf(ang));
+        nvgLineTo(vg, fb_w/2 - 50 * cosf(ang), fb_h/2 - 50 * sinf(ang));
+      nvgStroke(vg);
+    }
+
+    if (spintext) {
+      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
+      nvgFontSize(vg, 96.0f);
+      nvgText(vg, fb_w / 2, fb_h*2/3, spintext, NULL);      
+    }
+
+    nvgEndFrame(vg);
+
+    eglSwapBuffers(display, surface);
+    assert(glGetError() == GL_NO_ERROR);
+  }
+
+  return 0;
+}

selfdrive/ui/ui.c

@@ -20,6 +20,7 @@
 
 #include "common/timing.h"
 #include "common/util.h"
+#include "common/swaglog.h"
 #include "common/mat.h"
 #include "common/glutil.h"
 
@@ -60,6 +61,7 @@ typedef struct UIScene {
   uint8_t *bgr_front_ptr;
   int front_box_x, front_box_y, front_box_width, front_box_height;
 
+  uint64_t alert_ts;
   char alert_text1[1024];
   char alert_text2[1024];
 
@@ -69,8 +71,6 @@ typedef struct UIScene {
 typedef struct UIState {
   pthread_mutex_t lock;
 
-  TouchState touch;
-
   FramebufferState *fb;
 
   int fb_w, fb_h;
@@ -122,6 +122,8 @@ typedef struct UIState {
 
   bool awake;
   int awake_timeout;
+
+  bool is_metric;
 } UIState;
 
 static void set_awake(UIState *s, bool awake) {
@@ -133,7 +135,7 @@ static void set_awake(UIState *s, bool awake) {
     s->awake = awake;
 
     if (awake) {
-      printf("awake normal\n");
+      LOG("awake normal");
       framebuffer_set_power(s->fb, HWC_POWER_MODE_NORMAL);
 
       // can't hurt
@@ -143,7 +145,7 @@ static void set_awake(UIState *s, bool awake) {
         fclose(f);
       }
     } else {
-      printf("awake off\n");
+      LOG("awake off");
       framebuffer_set_power(s->fb, HWC_POWER_MODE_OFF);
     }
   }
@@ -228,10 +230,8 @@ static void ui_init(UIState *s) {
 
   s->ipc_fd = -1;
 
-  touch_init(&s->touch);
-
   // init display
-  s->fb = framebuffer_init("ui", 0x00001000,
+  s->fb = framebuffer_init("ui", 0x00010000, true,
                            &s->display, &s->surface, &s->fb_w, &s->fb_h);
   assert(s->fb);
   set_awake(s, true);
@@ -342,6 +342,13 @@ 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) {
@@ -598,6 +605,38 @@ static void draw_frame(UIState *s) {
   glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, &frame_indicies[0]);
 }
 
+/*
+ * Draw a rect at specific position with specific dimensions
+ */
+static void ui_draw_rounded_rect(
+    NVGcontext* c, 
+    int x,
+    int y,
+    int width,
+    int height,
+    int radius,
+    NVGcolor color
+) {
+
+  int bottom_x = x + width;
+  int bottom_y = y + height;
+
+  nvgBeginPath(c);
+
+  // Position the rect
+  nvgRoundedRect(c, x, y, bottom_x, bottom_y, radius);
+
+  // Color the rect
+  nvgFillColor(c, color);
+
+  // Draw the rect
+  nvgFill(c);
+
+  // Draw white border around rect
+  nvgStrokeColor(c, nvgRGBA(255,255,255,200));
+  nvgStroke(c);
+}
+
 // Draw all world space objects.
 static void ui_draw_world(UIState *s) {
   const UIScene *scene = &s->scene;
@@ -605,6 +644,19 @@ static void ui_draw_world(UIState *s) {
     return;
   }
 
+  /******************************************
+   * Add background rect so it's easier to see in 
+   * light background scenes 
+   ******************************************/
+  // Draw background around speed text
+
+  // Left side
+  ui_draw_rounded_rect(s->vg, -15, 0, 570, 180, 20, nvgRGBA(10,10,10,170));
+
+  // Right side
+  ui_draw_rounded_rect(s->vg, 1920-530, 0, 150, 180, 20, nvgRGBA(10,10,10,170));
+  /******************************************/
+
   draw_steering(s, scene->v_ego, scene->angle_steers);
 
   // draw paths
@@ -621,13 +673,28 @@ 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);
+
+    /******************************************
+     * Add background rect so it's easier to see in 
+     * light background scenes 
+     ******************************************/
+    // Draw background for radar text
+    ui_draw_rounded_rect(s->vg, 578, 0, 195, 180, 20, nvgRGBA(10,10,10,170));
+    /******************************************/
+
+    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));
+    nvgFillColor(s->vg, nvgRGBA(200, 200, 0, 192));
     nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
-    nvgText(s->vg, 1920 / 2, 150, radar_str, NULL);
+    nvgText(s->vg, 1920 / 2 - 20, 40, radar_str, NULL);
 
     // 2.7 m fudge factor
     draw_cross(s, scene->lead_d_rel + 2.7, scene->lead_y_rel, 15,
@@ -638,11 +705,10 @@ static void ui_draw_world(UIState *s) {
 static void ui_draw_vision(UIState *s) {
   const UIScene *scene = &s->scene;
 
-  if (scene->engaged) {
-    glClearColor(1.0, 0.5, 0.0, 1.0);
-  } else {
-    glClearColor(0.1, 0.1, 0.1, 1.0);
-  }
+  // if (scene->engaged) {
+  //   glClearColor(1.0, 0.5, 0.0, 1.0);
+  // } else {
+  glClearColor(0.1, 0.1, 0.1, 1.0);
   glClear(GL_COLOR_BUFFER_BIT);
 
   draw_frame(s);
@@ -662,26 +728,57 @@ static void ui_draw_vision(UIState *s) {
 
     // draw speed
     char speed_str[16];
-    nvgFontSize(s->vg, 128.0f);
+    float defaultfontsize = 128.0f;
+    float labelfontsize = 65.0f;
+
     if (scene->engaged) {
       nvgFillColor(s->vg, nvgRGBA(255, 128, 0, 192));
+
+      // Add label
+      nvgFontSize(s->vg, labelfontsize);
+      nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
+      nvgText(s->vg, 20, 175-30, "OpenPilot: On", NULL);
     } else {
-      nvgFillColor(s->vg, nvgRGBA(64, 64, 64, 192));
+      nvgFillColor(s->vg, nvgRGBA(195, 195, 195, 192));
+
+      // Add label
+      nvgFontSize(s->vg, labelfontsize);
+      nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
+      nvgText(s->vg, 20, 175-30, "OpenPilot: Off", NULL);
     }
 
+    nvgFontSize(s->vg, defaultfontsize);
     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);
+      nvgText(s->vg, 480, 95, speed_str, NULL);
     }
 
+    // Add label
+    nvgFontSize(s->vg, labelfontsize);
     nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 192));
-    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);
+    nvgText(s->vg, 1920 - 475, 175-30, "Current Speed", NULL);
+    /******************************************/
+
+    nvgFontSize(s->vg, defaultfontsize);
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 192));
+    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, 95, speed_str, NULL);
 
     /*nvgFontSize(s->vg, 64.0f);
     nvgTextAlign(s->vg, NVG_ALIGN_RIGHT | NVG_ALIGN_BASELINE);
@@ -697,19 +794,38 @@ static void ui_draw_vision(UIState *s) {
     }
   }
 
+  nvgEndFrame(s->vg);
+
+  glDisable(GL_BLEND);
+  // glDisable(GL_CULL_FACE);
+}
+
+static void ui_draw_alerts(UIState *s) {
+  const UIScene *scene = &s->scene;
+
+  // dont draw alerts that are outdated by > 20 secs
+  if ((nanos_since_boot() - scene->alert_ts) >= 20000000000ULL) {
+    return;
+  }
+
+  glEnable(GL_BLEND);
+  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+  glClear(GL_STENCIL_BUFFER_BIT);
+  
+  nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
+
   // draw alert text
   if (strlen(scene->alert_text1) > 0) {
     nvgBeginPath(s->vg);
     nvgRoundedRect(s->vg, 100, 200, 1700, 800, 40);
     nvgFillColor(s->vg, nvgRGBA(10, 10, 10, 220));
     nvgFill(s->vg);
-
     nvgFontSize(s->vg, 200.0f);
     nvgFillColor(s->vg, nvgRGBA(255, 0, 0, 255));
     nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
     nvgTextBox(s->vg, 100 + 50, 200 + 50, 1700 - 50, scene->alert_text1,
                 NULL);
-
     if (strlen(scene->alert_text2) > 0) {
       nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
       nvgFontSize(s->vg, 100.0f);
@@ -720,11 +836,10 @@ static void ui_draw_vision(UIState *s) {
   nvgEndFrame(s->vg);
 
   glDisable(GL_BLEND);
-  glDisable(GL_CULL_FACE);
 }
 
 static void ui_draw_blank(UIState *s) {
-  glClearColor(0.1, 0.1, 0.1, 1.0);
+  glClearColor(0.0, 0.0, 0.0, 0.0);
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 }
 
@@ -735,6 +850,8 @@ static void ui_draw(UIState *s) {
     ui_draw_blank(s);
   }
 
+  ui_draw_alerts(s);
+
   eglSwapBuffers(s->display, s->surface);
   assert(glGetError() == GL_NO_ERROR);
 }
@@ -840,19 +957,22 @@ static void ui_update(UIState *s) {
 
     int ret = zmq_poll(polls, num_polls, 0);
     if (ret < 0) {
-      printf("poll failed (%d)\n", ret);
+      LOGW("poll failed (%d)", ret);
       break;
     }
     if (ret == 0) {
       break;
     }
 
+    // awake on any activity
+    set_awake(s, true);
+
     if (s->vision_connected && polls[4].revents) {
       // vision ipc event
       VisionPacket rp;
       err = vipc_recv(s->ipc_fd, &rp);
       if (err <= 0) {
-        printf("vision disconnected\n");
+        LOGW("vision disconnected");
         close(s->ipc_fd);
         s->ipc_fd = -1;
         s->vision_connected = false;
@@ -945,6 +1065,9 @@ static void ui_update(UIState *s) {
           s->scene.alert_text2[0] = '\0';
         }
         s->scene.awareness_status = datad.awarenessStatus;
+
+        s->scene.alert_ts = eventd.logMonoTime;
+
       } else if (eventd.which == cereal_Event_live20) {
         struct cereal_Live20Data datad;
         cereal_read_Live20Data(&datad, eventd.live20);
@@ -1074,12 +1197,23 @@ int main() {
                        vision_connect_thread, s);
   assert(err == 0);
 
+  TouchState touch = {0};
+  touch_init(&touch);
+
   while (!do_exit) {
+    pthread_mutex_lock(&s->lock);
+    
+    ui_update(s);
     if (s->awake) {
-      pthread_mutex_lock(&s->lock);
-      ui_update(s);
       ui_draw(s);
-      pthread_mutex_unlock(&s->lock);
+    }
+
+    // awake on any touch
+    int touch_x = -1, touch_y = -1;
+    int touched = touch_poll(&touch, &touch_x, &touch_y);
+    if (touched == 1) {
+      // touch event will still happen :(
+      set_awake(s, true);
     }
 
     // manage wakefulness
@@ -1089,22 +1223,14 @@ int main() {
       set_awake(s, false);
     }
 
-    // always awake if vision is connected
-    if (s->vision_connected) {
-      set_awake(s, true);
-    } else {
-      int touch_x = -1, touch_y = -1;
-      err = touch_poll(&s->touch, &touch_x, &touch_y);
-      if (err == 1) {
-        // touch event will still happen :(
-        set_awake(s, true);
-      }
-    }
+    pthread_mutex_unlock(&s->lock);
 
     // no simple way to do 30fps vsync with surfaceflinger...
     usleep(30000);
   }
 
+  set_awake(s, true);
+
   err = pthread_join(connect_thread_handle, NULL);
   assert(err == 0);