diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 417fe20449..35bab255cb 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -69,11 +69,8 @@ jobs:
build:
strategy:
matrix:
- arch: ${{ fromJson(
- ((github.repository == 'commaai/openpilot') &&
- ((github.event_name != 'pull_request') ||
- (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
- runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+ arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
+ runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
@@ -90,23 +87,6 @@ jobs:
- uses: ./.github/workflows/compile-openpilot
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
- docker_push_multiarch:
- name: docker push multiarch tag
- runs-on: ubuntu-latest
- if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
- needs: [build]
- steps:
- - uses: actions/checkout@v4
- with:
- submodules: false
- - name: Setup docker
- run: |
- $DOCKER_LOGIN
- - name: Merge x64 and arm64 tags
- run: |
- export PUSH_IMAGE=true
- scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
static_analysis:
name: static analysis
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index ba597f7000..c2f7d86e69 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -39,6 +39,25 @@ jobs:
source selfdrive/test/setup_vsound.sh && \
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+ test_python311:
+ name: test python3.11 support
+ runs-on: ubuntu-latest
+ timeout-minutes: 5
+ steps:
+ - uses: actions/checkout@v4
+ - name: Installing ubuntu dependencies
+ run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
+ - name: Installing python
+ uses: actions/setup-python@v5
+ with:
+ python-version: '3.11.4'
+ - name: Installing pip
+ run: pip install pip==24.0
+ - name: Installing poetry
+ run: pip install poetry==1.7.0
+ - name: Installing python dependencies
+ run: poetry install --no-cache --no-root
+
devcontainer:
name: devcontainer
runs-on: ubuntu-latest
diff --git a/.gitignore b/.gitignore
index b08af180d2..dc1620d6d7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -84,3 +84,22 @@ build/
poetry.toml
Pipfile
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
\ No newline at end of file
diff --git a/.python-version b/.python-version
deleted file mode 100644
index 0c7d5f5f5d..0000000000
--- a/.python-version
+++ /dev/null
@@ -1 +0,0 @@
-3.11.4
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 76878b64b5..3f93092a3f 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,3 +1,7 @@
+sunnypilot - 0.9.8.0 (2024-xx-xx)
+========================
+* Always on driver monitoring toggle
+
sunnypilot - 0.9.7.1 (2024-06-13)
========================
* New driving model
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 0789a39c3e..45b29bdcb1 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -64,11 +64,11 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
USER $USER
ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.11.4
+ENV PYENV_VERSION=3.12.4
ENV PYENV_ROOT="/home/$USER/pyenv"
ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER pyproject.toml poetry.lock /tmp/
COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
RUN cd /tmp && \
@@ -76,7 +76,7 @@ RUN cd /tmp && \
rm -rf /tmp/* && \
rm -rf /home/$USER/.cache && \
find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
- rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
+ rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test
USER root
RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/RELEASES.md b/RELEASES.md
index aa0ab182ec..57f6979117 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,17 +1,19 @@
Version 0.9.8 (2024-XX-XX)
========================
-* Always on driver monitoring toggle
+* Added toggle to enable driver monitoring even when openpilot is not engaged
-Version 0.9.7 (2024-06-11)
+Version 0.9.7 (2024-06-13)
========================
* New driving model
* Inputs the past curvature for smoother and more accurate lateral control
* Simplified neural network architecture in the model's last layers
* Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+ * Improved end-to-end bit for phone detection
* Adjust driving personality with the follow distance button
-* Added toggle to enable driver monitoring even when openpilot is not engaged
* Support for hybrid variants of supported Ford models
* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
Version 0.9.6 (2024-02-27)
========================
diff --git a/cereal/README.md b/cereal/README.md
index e3326aab0e..ad940facdc 100644
--- a/cereal/README.md
+++ b/cereal/README.md
@@ -1,11 +1,6 @@
-# What is cereal? [](https://github.com/commaai/cereal/actions) [](https://codecov.io/gh/commaai/cereal)
+# What is cereal?
-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
-* A calibration process subscribes to the `sensorEvents` packet to use the IMU
-* A localization process subscribes to the `sensorEvents` packet to use the IMU also
+cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
## Messaging Spec
@@ -32,11 +27,7 @@ Forks of [openpilot](https://github.com/commaai/openpilot) might want to add thi
spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
-
-## Pub Sub Backends
-
-cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
Example
---
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 24ce154eb7..cd4cbf87b6 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -539,8 +539,7 @@ struct CarParams {
startingState @70 :Bool; # Does this car make use of special starting state
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
- longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
- longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
+ longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
dashcamOnly @41: Bool;
@@ -593,8 +592,8 @@ struct CarParams {
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
- deadzoneBP @4 :List(Float32);
- deadzoneV @5 :List(Float32);
+ deadzoneBPDEPRECATED @4 :List(Float32);
+ deadzoneVDEPRECATED @5 :List(Float32);
}
struct LateralINDITuning {
@@ -754,4 +753,5 @@ struct CarParams {
brakeMaxVDEPRECATED @16 :List(Float32);
directAccelControlDEPRECATED @30 :Bool;
maxSteeringAngleDegDEPRECATED @54 :Float32;
+ longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
}
diff --git a/cereal/log.capnp b/cereal/log.capnp
index de639c201c..df42400a49 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -698,7 +698,6 @@ struct ControlsState @0x97ff69c53601abf1 {
personality @66 :LongitudinalPersonality;
longControlState @30 :Car.CarControl.Actuators.LongControlState;
- vPid @2 :Float32;
vTargetLead @3 :Float32;
vCruise @22 :Float32; # actual set speed
vCruiseCluster @63 :Float32; # set speed to display in the UI
@@ -866,6 +865,7 @@ struct ControlsState @0x97ff69c53601abf1 {
canMonoTimesDEPRECATED @21 :List(UInt64);
desiredCurvatureRateDEPRECATED @62 :Float32;
canErrorCounterDEPRECATED @57 :UInt32;
+ vPidDEPRECATED @2 :Float32;
}
# All SI units and in device frame
@@ -1060,6 +1060,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
accels @32 :List(Float32);
speeds @33 :List(Float32);
jerks @34 :List(Float32);
+ aTarget @18 :Float32;
+ shouldStop @37: Bool;
+ allowThrottle @38: Bool;
+ allowBrake @39: Bool;
+
solverExecutionTime @35 :Float32;
@@ -1076,7 +1081,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
aCruiseDEPRECATED @17 :Float32;
vTargetDEPRECATED @3 :Float32;
vTargetFutureDEPRECATED @14 :Float32;
- aTargetDEPRECATED @18 :Float32;
vStartDEPRECATED @26 :Float32;
aStartDEPRECATED @27 :Float32;
vMaxDEPRECATED @20 :Float32;
@@ -2244,7 +2248,6 @@ struct Event {
carControl @23 :Car.CarControl;
carOutput @127 :Car.CarOutput;
longitudinalPlan @24 :LongitudinalPlan;
- uiPlan @106 :UiPlan;
ubloxGnss @34 :UbloxGnss;
ubloxRaw @39 :Data;
qcomGnss @31 :QcomGnss;
@@ -2365,5 +2368,6 @@ struct Event {
sensorEventsDEPRECATED @11 :List(SensorEventData);
lateralPlanDEPRECATED @64 :LateralPlan;
navModelDEPRECATED @104 :NavModelData;
+ uiPlanDEPRECATED @106 :UiPlan;
}
}
diff --git a/cereal/services.py b/cereal/services.py
index 854e559361..b9f74e6d1d 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -69,7 +69,7 @@ _services: dict[str, tuple] = {
"navThumbnail": (True, 0.),
"navModelDEPRECATED": (True, 2., 4.),
"mapRenderState": (True, 2., 1.),
- "uiPlan": (True, 20., 40.),
+ "uiPlanDEPRECATED": (True, 20., 40.),
"qRoadEncodeIdx": (False, 20.),
"userFlag": (True, 0., 1),
"microphone": (True, 10., 10),
diff --git a/common/api/base.py b/common/api/base.py
index 0901ccacc9..9efb6fe07e 100644
--- a/common/api/base.py
+++ b/common/api/base.py
@@ -1,7 +1,7 @@
import jwt
import requests
import unicodedata
-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
from openpilot.system.hardware.hw import Paths
from openpilot.system.version import get_version
@@ -24,7 +24,7 @@ class BaseApi:
return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
def _get_token(self, expiry_hours=1, **extra_payload):
- now = datetime.utcnow()
+ now = datetime.now(UTC).replace(tzinfo=None)
payload = {
'identity': self.dongle_id,
'nbf': now,
diff --git a/common/realtime.py b/common/realtime.py
index 9d68699170..692e95c5d9 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -6,7 +6,7 @@ import threading
import psutil
from collections import deque
-from setproctitle import getproctitle
+from openpilot.common.threadname import getthreadname
from openpilot.system.hardware import PC
@@ -62,7 +62,7 @@ class Ratekeeper:
self._print_delay_threshold = print_delay_threshold
self._frame = 0
self._remaining = 0.0
- self._process_name = getproctitle()
+ self._thread_name = getthreadname()
self._dts = deque([self._interval], maxlen=100)
self._last_monitor_time = time.monotonic()
@@ -97,7 +97,7 @@ class Ratekeeper:
remaining = self._next_frame_time - time.monotonic()
self._next_frame_time += self._interval
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
- print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
+ print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
lagged = True
self._frame += 1
self._remaining = remaining
diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py
new file mode 100644
index 0000000000..38e5e1d498
--- /dev/null
+++ b/common/tests/test_threadname.py
@@ -0,0 +1,8 @@
+from openpilot.common.threadname import setthreadname, getthreadname, LINUX
+
+class TestThreadName:
+ def test_set_get_threadname(self):
+ if LINUX:
+ name = 'TESTING'
+ setthreadname(name)
+ assert name == getthreadname()
diff --git a/common/threadname.py b/common/threadname.py
new file mode 100644
index 0000000000..7c415721f4
--- /dev/null
+++ b/common/threadname.py
@@ -0,0 +1,19 @@
+import ctypes
+import os
+
+LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
+
+if LINUX:
+ libc = ctypes.CDLL('libc.so.6')
+
+def setthreadname(name: str) -> None:
+ if LINUX:
+ name = name[-15:] + '\0'
+ libc.prctl(15, str.encode(name), 0, 0, 0)
+
+def getthreadname() -> str:
+ if LINUX:
+ name = ctypes.create_string_buffer(16)
+ libc.prctl(16, name)
+ return name.value.decode('utf-8')
+ return ""
diff --git a/common/version.h b/common/version.h
index c8470ac49c..b2718e73b1 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.7.1"
+#define COMMA_VERSION "0.9.8.0"
diff --git a/docs/CARS.md b/docs/CARS.md
index 3b163dcee3..43bd8a8b30 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -90,9 +90,9 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Parts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Parts
- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here