Merge from upstream

.gitignore

@@ -20,8 +20,6 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-lane.cpp
-loc*.cpp
 config.json
 clcache
 

CONTRIBUTING.md

@@ -8,11 +8,11 @@ Most open source development activity is coordinated through our [slack](https:/
 
  * Join our slack [slack.comma.ai](https://slack.comma.ai)
  * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork the repository on GitHub
+ * Fork [our repositories](https://github.com/commaai) on GitHub
 
 ## Car Ports (openpilot)
 
-We've released a guide for porting to Toyota cars [here](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6)
+We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
 
-If you port openpilot to a substantially new car, you might be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
 

README.md

@@ -53,14 +53,16 @@ Supported Cars
 | Honda         | Civic 2017                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
 | Honda         | Civic 2017 *(Hatch)*      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
 | Honda         | Civic 2018                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda         | CR-V 2015                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | CR-V 2016                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Civic 2018 *(Hatch)*      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | CR-V 2015                 | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | CR-V 2016                 | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
 | Honda         | CR-V 2017                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
 | Honda         | CR-V 2018                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda         | Odyssey 2017              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | Odyssey 2018              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Odyssey 2017              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda         | Odyssey 2018              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
 | Honda         | Pilot 2017                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
 | Honda         | Pilot 2018                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Pilot 2019                | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
 | Honda         | Ridgeline 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
 | Honda         | Ridgeline 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
 | Lexus         | RX Hybrid 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
@@ -96,7 +98,7 @@ Community Maintained Cars
 
 [[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
 
-Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
+Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
 
 In Progress Cars
 ------

RELEASES.md

@@ -1,3 +1,11 @@
+Version 0.5.2 (2018-08-16)
+========================
+ * New calibration: more accurate, a lot faster, open source!
+ * Enable orbd
+ * Add little endian support to CAN packer
+ * Fix fingerprint for Honda Accord 1.5T
+ * Improve driver monitoring model
+
 Version 0.5.1 (2018-08-01)
 ========================
  * Fix radar error on Civic sedan 2018

cereal/car.capnp

@@ -309,6 +309,7 @@ struct CarParams {
     cadillac @7;
     hyundai @8;
     chrysler @9;
+    tesla @10;
   }
 
   # things about the car in the manual

cereal/log.capnp

@@ -331,13 +331,16 @@ struct Live20Data {
 }
 
 struct LiveCalibrationData {
+  # deprecated
   warpMatrix @0 :List(Float32);
+  # camera_frame_from_model_frame
   warpMatrix2 @5 :List(Float32);
   calStatus @1 :Int8;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
 
-  # Maps car space to normalized image space.
+  # view_frame_from_road_frame
+  # ui's is inversed needs new
   extrinsicMatrix @4 :List(Float32);
 }
 

common/dbc.py

@@ -4,7 +4,7 @@
 import bitstring
 import sys
 import numbers
-from collections import namedtuple
+from collections import namedtuple, defaultdict
 
 def int_or_float(s):
   # return number, trying to maintain int format
@@ -28,6 +28,7 @@ def __init__(self, fn):
     bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
     sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
     sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
 
     # A dictionary which maps message ids to tuples ((name, size), signals).
     #   name is the ASCII name of the message.
@@ -36,6 +37,9 @@ def __init__(self, fn):
     # signals is a list of DBCSignal in order of increasing start_bit.
     self.msgs = {}
 
+    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
+    self.def_vals = defaultdict(list)
+
     # lookup to bit reverse each byte
     self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
 
@@ -81,6 +85,30 @@ def __init__(self, fn):
           DBCSignal(sgname, start_bit, signal_size, is_little_endian,
                     is_signed, factor, offset, tmin, tmax, units))
 
+      if l.startswith("VAL_ "):
+        # new signal value/definition
+        dat = val_regexp.match(l)
+
+        if dat is None:
+          print "bad VAL", l
+        ids = int(dat.group(1), 0) # could be hex
+        sgname = dat.group(2)
+        defvals = dat.group(3)
+
+        defvals = defvals.replace("?","\?") #escape sequence in C++
+        defvals = defvals.split('"')[:-1]
+
+        defs = defvals[1::2]
+        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
+        for i,d in enumerate(defs):
+          d = defs[i].strip().upper()
+          defs[i] = d.replace(" ","_")
+
+        defvals[1::2] = defs
+        defvals = '"'+"".join(str(i) for i in defvals)+'"'
+
+        self.def_vals[ids].append((sgname, defvals))
+
     for msg in self.msgs.viewvalues():
       msg[1].sort(key=lambda x: x.start_bit)
 

common/ffi_wrapper.py

@@ -0,0 +1,42 @@
+import os
+import sys
+import fcntl
+import hashlib
+from cffi import FFI
+
+TMPDIR = "/tmp/ccache"
+
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
+  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+  try:
+    os.mkdir(tmpdir)
+  except OSError:
+    pass
+
+  fd = os.open(tmpdir, 0)
+  fcntl.flock(fd, fcntl.LOCK_EX)
+  try:
+    sys.path.append(tmpdir)
+    try:
+      mod = __import__(cache)
+    except Exception:
+      print "cache miss", cache
+      compile_code(cache, c_code, c_header, tmpdir)
+      mod = __import__(cache)
+  finally:
+    os.close(fd)
+
+  return mod.ffi, mod.lib
+
+def compile_code(name, c_code, c_header, directory):
+  ffibuilder = FFI()
+  ffibuilder.set_source(name, c_code, source_extension='.cpp')
+  ffibuilder.cdef(c_header)
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['CFLAGS'] = ""
+  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
+
+def wrap_compiled(name, directory):
+  sys.path.append(directory)
+  mod = __import__(name)
+  return mod.ffi, mod.lib

common/params.py

@@ -66,9 +66,6 @@ class UnknownKeyName(Exception):
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTENT,
-# written: visiond
-# read:    visiond, ui
-  "CloudCalibration": TxType.PERSISTENT,
 # written: controlsd
 # read:    radard
   "CarParams": TxType.CLEAR_ON_CAR_START,
@@ -266,23 +263,50 @@ def __exit__(self, type, value, traceback):
       self._lock = None
 
 
+def read_db(params_path, key):
+  path = "%s/d/%s" % (params_path, key)
+  try:
+    with open(path, "rb") as f:
+      return f.read()
+  except IOError:
+    return None
 
-class JSDB(object):
-  def __init__(self, fn):
-    self._fn = fn
+def write_db(params_path, key, value):
+  prev_umask = os.umask(0)
+  lock = FileLock(params_path+"/.lock", True)
+  lock.acquire()
 
-  def begin(self, write=False):
-    if write:
-      return DBWriter(self._fn)
-    else:
-      return DBReader(self._fn)
+  try:
+    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
+    with open(tmp_path, "wb") as f:
+      f.write(value)
+      f.flush()
+      os.fsync(f.fileno())
+
+    path = "%s/d/%s" % (params_path, key)
+    os.rename(tmp_path, path)
+    fsync_dir(os.path.dirname(path))
+  finally:
+    os.umask(prev_umask)
+    lock.release()
 
 class Params(object):
   def __init__(self, db='/data/params'):
-    self.env = JSDB(db)
+    self.db = db
+
+    # create the database if it doesn't exist...
+    if not os.path.exists(self.db+"/d"):
+      with self.transaction(write=True):
+        pass
+
+  def transaction(self, write=False):
+    if write:
+      return DBWriter(self.db)
+    else:
+      return DBReader(self.db)
 
   def _clear_keys_with_type(self, tx_type):
-    with self.env.begin(write=True) as txn:
+    with self.transaction(write=True) as txn:
       for key in keys:
         if keys[key] == tx_type:
           txn.delete(key)
@@ -294,16 +318,15 @@ def car_start(self):
     self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
 
   def delete(self, key):
-    with self.env.begin(write=True) as txn:
+    with self.transaction(write=True) as txn:
       txn.delete(key)
 
   def get(self, key, block=False):
     if key not in keys:
       raise UnknownKeyName(key)
 
     while 1:
-      with self.env.begin() as txn:
-        ret = txn.get(key)
+      ret = read_db(self.db, key)
       if not block or ret is not None:
         break
       # is polling really the best we can do?
@@ -314,8 +337,7 @@ def put(self, key, dat):
     if key not in keys:
       raise UnknownKeyName(key)
 
-    with self.env.begin(write=True) as txn:
-      txn.put(key, dat)
+    write_db(self.db, key, dat)
 
 if __name__ == "__main__":
   params = Params()