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George Hotz geohot comma.ai San Diego, CA 1m2019.com We will win self driving cars.

geohot/fromthetransistor 640

From the Transistor to the Web Browser, a rough outline for a 12 week course

geohot/minikeyvalue 559

A distributed key value store in under 1000 lines

geohot/lolrecaptcha 284

We try to break the recaptcha for the Merry Christmas for all!

geohot/ai-notebooks 158

Some ipython notebooks implementing AI algorithms

geohot/kvm-kext 99

An implementation of /dev/kvm for Mac OS X

geohot/eda-reversing 88

The Embedded Disassembler

geohot/ipwndfu 84

open-source jailbreaking tool for many iOS devices

geohot/battlechess 62

A distributed decentralized chess tournament

geohot/eda-2 59

Even better than eda-reversing...I hope

geohot/configuration 53

Like some files bro

pull request commentcommaai/openpilot

0.7.3 Release

Why does the commit have the name "openpilot v0.7.2 release"?

pd0wm

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Pull request review commentcommaai/openpilot

0.7.3 Release

 def thermald_thread():     if health is not None:       usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client -    try:-      network_type = get_network_type()-    except subprocess.CalledProcessError:-      pass+    # get_network_type is an expensive call. update every 10s

This really shouldn't live in thermald if it's slow. Mods like this are a bad idea.

pd0wm

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Pull request review commentcommaai/openpilot

0.7.3 Release

 def prepare_managed_process(p):       subprocess.check_call(["make", "clean"], cwd=os.path.join(BASEDIR, proc[0]))       subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0])) ++def join_process(process, timeout):+  # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382+  # We have to poll the exitcode instead+  t = time.time()+  while time.time() - t < timeout and process.exitcode is None:+    time.sleep(0.001)

Should it actually join the process after this? Otherwise it's an orphan PID or something.

pd0wm

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pull request commentcommaai/panda

Hyundai-Kia-Genesis (HKG)

@rbiasini Does this make sense?

@pd0wm How do we update the safety replay?

xx979xx

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pull request commentcommaai/panda

Added Nissan safety

Can you get this to pass the MISRA check?

avolmensky

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CommitCommentEvent

pull request commentcommaai/openpilot

Increase days of no Internet connectivity to 30

Sounds good

ErichMoraga

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PR closed commaai/openpilot

Increase days of no Internet connectivity to 30

Making good on @geohot's promise... https://discordapp.com/channels/469524606043160576/524328425415245827/664532003382755349

+2 -2

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ErichMoraga

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pull request commentcommaai/openpilot

Increase days of no Internet connectivity to 30

Instead, we made it so you can reboot to reset this. Fair?

ErichMoraga

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George Hotz

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Fix bugged exception in lst_sq_computer.

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George Hotz

commit sha d86c7b7d1585fdcce4b9837a4387e852aba01904

build lst_sq_computer 4 and 5

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pull request commentcommaai/openpilot

Add support for Lexus NX 300h 2018

Please add it to README as well. And looks like the car models test is passing!

kengggg

comment created time in 6 days

pull request commentcommaai/panda

Panda side lateral support for Chevy Bolt EV, Chevy Equinox

I mean, the scheduling isn't worth much, that's more code to maintain. The real value is in fixing the timing issues with controlsd.

JasonJShuler

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George Hotz

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remove unused stuff from external

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George Hotz

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typo

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pull request commentcommaai/panda

Panda side lateral support for Chevy Bolt EV, Chevy Equinox

The scheduling would be generic though, and not specific to a car. Due to panda code needing to meet MISRA + the testing requirements, it is a lot more expensive to code and maintain.

Re: the AEB counter. AEB doesn't have an ASIL rating on working. Therefore, I would put the forwarding for this in openpilot, and have openpilot always generate the brake message. It can read the stock and pass it through.

Eventually, we will have our own AEB in openpilot once we can show that it is without a doubt better, and that would all be running on the EON. So this is a first step toward that. It's way better than the current GM which disables it.

JasonJShuler

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issue openedcommaai/openpilot

Multilanguage support

Before openpilot is 1.0 software, it needs support for multiple languages. We'd need a nice generic way to do this.

created time in 8 days

issue closedcommaai/openpilot

openpilot offroad apk - It does not work

Install the application today on /openpilot/apk/ai.comma.plus.offroad.apk It does not work. An error appears and it closes. Why? Thanks. Screenshot_2020-02-09-14-43-52-901_com miui bugreport

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renat2985

issue commentcommaai/openpilot

openpilot offroad apk - It does not work

It is not designed to be installed on normal Android, only NEOS.

renat2985

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Pull request review commentcommaai/openpilot

Honda Pedal Fixes

 def update(self, enabled, CS, frame, actuators, \         idx = frame // 2         ts = frame * DT_CTRL         pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)+        # If pedal detected, don't send cancel command to prevent brake grinding.

I don't think this is the right place for this, it's way too close to the output. Why is cancel being generated, and is there a better place to block it if that's what we want.

VirtuallyChris

comment created time in 8 days

pull request commentcommaai/openpilot

WIP: Honda Steering Improvements

Can we get this merged?

gregjhogan

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Pull request review commentcommaai/openpilot

Hyundai-Kia-Genesis (HKG)

+from cereal import car from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11-from selfdrive.car.hyundai.values import Buttons, SteerLimitParams+from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR from opendbc.can.packer import CANPacker +VisualAlert = car.CarControl.HUDControl.VisualAlert+def process_hud_alert(enabled, fingerprint, visual_alert, left_line,+                       right_line, left_lane_depart, right_lane_depart):+  hud_alert = 0+  if visual_alert == VisualAlert.steerRequired:+    hud_alert = 3++  # initialize to no line visible+  lane_visible = 1+  if left_line and right_line or hud_alert: #HUD alert only display when LKAS status is active+    if enabled or hud_alert:+      lane_visible = 3+    else:+      lane_visible = 4+  elif left_line:+    lane_visible = 5+  elif right_line:+    lane_visible = 6++  # initialize to no warnings+  left_lane_warning = 0+  right_lane_warning = 0+  if left_lane_depart:+    left_lane_warning = 1 if fingerprint in [CAR.GENESIS , CAR.GENESIS_G90, CAR.GENESIS_G80] else 2+  if right_lane_depart:+    right_lane_warning = 1 if fingerprint in [CAR.GENESIS , CAR.GENESIS_G90, CAR.GENESIS_G80] else 2++  return hud_alert, lane_visible, left_lane_warning, right_lane_warning  class CarController():   def __init__(self, dbc_name, car_fingerprint):     self.apply_steer_last = 0     self.car_fingerprint = car_fingerprint-    self.lkas11_cnt = 0-    self.cnt = 0-    self.last_resume_cnt = 0     self.packer = CANPacker(dbc_name)     self.steer_rate_limited = False+    self.resume_cnt = 0+    self.last_resume_frame = 0+    self.last_lead_distance = 0 -  def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,+              left_line, right_line, left_lane_depart, right_lane_depart):      ### Steering Torque     new_steer = actuators.steer * SteerLimitParams.STEER_MAX     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steer_torque_driver, SteerLimitParams)     self.steer_rate_limited = new_steer != apply_steer -    if not enabled:+    # disable if steer angle reach 90 deg, otherwise mdps fault in some models+    lkas_active = enabled and abs(CS.angle_steers) < 90.

Agree with @jpancotti

xx979xx

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Pull request review commentcommaai/openpilot

Hyundai-Kia-Genesis (HKG)

 Supported Cars | Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        | | Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        | | Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |+| Hyundai   | Elantra GT 2017-19<sup>1</sup>| All               | Stock            | 0mph               | 30mph        | | Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |+| Hyundai   | Ioniq 2017<sup>1</sup>        | All               | Stock            | 0mph               | 34mph        |+| Hyundai   | Kona 2017-19<sup>1</sup>      | LDWS              | Stock            | 22mph              | 0mph         | | Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         | | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         | | Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |+| Kia       | Forte 2018<sup>1</sup>        | LKAS              | Stock            | 0mph               | 0mph         |

Is SCC default on this?

xx979xx

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Pull request review commentcommaai/panda

Hyundai-Kia-Genesis (HKG)

 static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {     int bus = GET_BUS(to_push);     int addr = GET_ADDR(to_push); -    if (addr == 897) {-      int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;+    if (addr == 593) {

Where are we on this? Can we use the old message if we also check the bus?

xx979xx

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pull request commentcommaai/panda

Panda side lateral support for Chevy Bolt EV, Chevy Equinox

On the surface, I'm very reluctant to merge this. The job of the panda is to enforce the safety model, not a place to put functionality. It shouldn't be sending messages, it should just be gating messages from the EON. If this is really needed, I would prefer something that looks more like the EON scheduling a message for the future. Though I've never seen a car be this strict about CAN timings, so I'm wondering if it's possible it's something else. If not:

If we need 2ms precision, we should be improving the Python code to get there. It's definitely possible, and openpilot overall would be improved for everyone. For us, it's about long term value of the project, not adding certain car specific hacks. I understand fork maintainers might have a different perspective, particularly working on it as a volunteer.

How about this, the "CAN Precision Project" has value to the company. Come up with a current understanding of where we are, where we need to be, and propose a bounty if you can make it happen. We'd upstream the tools to instrument this as well, and we have a testing closet which we can run 10 EONs on the code checking for violations.

For openpilot to be 1.0, we have to do this precision project anyway.

JasonJShuler

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pull request commentcommaai/openpilot

Bounty: Mazda

The expectation from every car in openpilot is that it be able perform on the highway without many disengagements ( referenced in #1060 ), and unfortunately with a 10 second lockout that's unlikely. I want to be clear on this policy going forward, sorry for being indecisive.

If some cars don't have the lockout, we can upstream them. I still think the warning is a good idea, and we'll keep this PR open in hopes future Mazda's don't have the lockout, or a way is found to bypass it.

Jafaral

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pull request commentcommaai/openpilot

EON side lateral support for Chevy Bolt EV, Chevy Equinox

For now, we are going to keep the ACC requirement for upstreaming. The expectation from every car in openpilot is that it perform on the highway without many disengagements, and unfortunately without ACC that's unlikely.

Let's keep this pull request open, hoping the gas/brake can be controlled soon!

JasonJShuler

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pull request commentcommaai/openpilot

WIP: Offroad power monitoring

Merged cereal PR

robbederks

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delete branch commaai/cereal

delete branch : power_monitoring

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Robbe

commit sha b43fd0673c00c6c396d0198e382545c55472b03a

Added offroad power usage

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George Hotz

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Merge pull request #28 from commaai/power_monitoring Added offroad power usage

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PR merged commaai/cereal

Added offroad power usage
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pull request commentcommaai/openpilot

Add support for Lexus NX 300h 2018

Tests are currently failing, can you investigate?

kengggg

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George Hotz

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improve graph

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andrewcopenpilot

commit sha 4b12aca9411d2edd178b5972cd0f10c0c02303e8

GM: Resume Required Alert should be triggered off of ECM state (#1045) * Resume Required Alert should be triggered off of ECM state On GM cars the ECM goes into cruise state 4 (standstill) and in order for the ECM to accept cruise inputs, the resume button must be pressed to drive it to state 1 (active). Previously rather than testing for if the ECM was in state 4, the wheel speed sensors were checked that the vehicle was going less than 0.5 m/s. In some cases this could cause the resume required alert to be displayed before the car actually came to a stop as far as the ECM was concerned. If the alert is triggered before state 4 and OP demands acceleration, its possible for OP to acelerate while the Resume Required Alert is displayed created a very confusing UX. * After more review, the problem was actually with the 'if at_full_stop' check was inside an else statement preventing entering the stopped mode if braking is 0

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PR merged commaai/openpilot

GM: Resume Required Alert should be triggered off of ECM state

On GM cars the ECM goes into cruise state 4 (standstill) and in order for the ECM to accept cruise inputs, the resume button must be pressed to drive it to state 1 (active).

Previously rather than testing for if the ECM was in state 4, the wheel speed sensors were checked that the vehicle was going less than 0.5 m/s.

In some cases this could cause the resume required alert to be displayed before the car actually came to a stop as far as the ECM was concerned. If the alert is triggered before state 4 and OP demands acceleration, its possible for OP to acelerate while the Resume Required Alert is displayed created a very confusing UX.

This PR updates the alert to be triggered to fire when the ECM reports that it is in state 4.

+2 -2

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andrewcopenpilot

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pull request commentcommaai/openpilot

GM: Resume Required Alert should be triggered off of ECM state

Wow, this just looks like a typo

andrewcopenpilot

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Arne Schwarck

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German Prius FP (#1064)

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PR merged commaai/openpilot

German Prius FP

Don't have a drive available, take it or leave it.

+4 -0

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arne182

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pull request commentcommaai/openpilot

added 2020 highlander (TSS2)

Can you add the testing route in the test_car_models stage? @pd0wm what's the current procedure for this?

che220

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pull request commentcommaai/openpilot

EON side lateral support for Chevy Bolt EV, Chevy Equinox

Thank you for this pull request!

So our current policy has been no openpilot on cars without ACC, though it may be worth it for the Bolt and have it in community supported. Does the Equinox have ACC?

JasonJShuler

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Pull request review commentcommaai/openpilot

EON side lateral support for Chevy Bolt EV, Chevy Equinox

 [submodule "panda"] 	path = panda-	url = ../../commaai/panda.git

Please remove this for PR

JasonJShuler

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George Hotz

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winning drinking games

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Pull request review commentgeohot/minikeyvalue

Feature/basic auth

 logger = logging.getLogger(__name__) logger.setLevel(logging.DEBUG) +authstring = os.environ.get('USERPASS')+authstring = ("" if authstring is None else authstring + "@")+ class TestMiniKeyValue(unittest.TestCase):   maxDiff = None      def get_fresh_key(self):-    return b"http://localhost:3000/swag-" + binascii.hexlify(os.urandom(10))+    return b"http://"+str.encode(authstring)+b"localhost:3000/swag-" + binascii.hexlify(os.urandom(10))++  # handle 302 manually https://github.com/psf/requests/issues/2949+  def custom_request(self, key, headers={}, req_type='GET'):+    if req_type == 'GET': request_function = requests.get+    if req_type == 'HEAD': request_function = requests.head+    r = request_function(key, headers=headers, allow_redirects=False)+    while r.status_code == 302:

Yes

abriosi

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delete branch commaai/openpilot

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Pull request review commentcommaai/openpilot

Cleanup simulator and add usage instructions

+#!/bin/bash -e++FILE=CARLA_0.9.7.tar.gz+if [ ! -f $FILE ]; then+  curl -O http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/$FILE+fi+if [ ! -d carla ]; then+  mkdir -p carla_tmp+  cd carla_tmp+  tar xvf ../$FILE+  easy_install PythonAPI/carla/dist/carla-0.9.7-py3.5-linux-x86_64.egg

Hmm, I don't want to put sudo in there, that's bad python if that's how it's set up

geohot

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pull request commentcommaai/openpilot

Cleanup simulator and add usage instructions

@HaraldSchafer Merged in. This should work when the keras model matches the dlc, since it was already broken in master I just merged it.

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George Hotz

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Cleanup simulator and add usage instructions (#1050) * cleanup simulator files * minor updates * update readme * keras runner builds * hmm, still doesn't work * keras runner works * should work with python3 keras mod * touchups

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PR merged commaai/openpilot

Cleanup simulator and add usage instructions
+194 -190

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George Hotz

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touchups

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George Hotz

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should work with python3 keras mod

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George Hotz

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keras runner works

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George Hotz

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hmm, still doesn't work

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George Hotz

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keras runner builds

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issue closedcommaai/openpilot

Make HEVC files correct framerate

Saved road facing camera hevc files are saved at 50FPS, but should be 20FPS

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HaraldSchafer

issue commentcommaai/openpilot

Make HEVC files correct framerate

Err, there isn't really a way to do this. There's not a wrong frame rate, there's no frame rate, so it becomes the player default. The hevc files are not in a container, adding one would change the format, so will not fix.

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add zmq to rpath on x64

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cleanup simulator files

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minor updates

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update readme

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update readme

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George Hotz

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minor updates

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Cleanup simulator and add usage instructions
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fix releases.md typo

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George Hotz

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python import works now

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George Hotz

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remove dead file

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George Hotz

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unify Package

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release and clang-7

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George Hotz

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unify BuildPythonAPI

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unify BuildLibCarla

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George Hotz

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a real fix, and a broken thing

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George Hotz

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need recast there too

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George Hotz

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lane detector is dead code

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recast on os x

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Pull request review commentcarla-simulator/carla

Add support for building on Mac OS X

+# How to build CARLA on Mac OSX ++Note that unlike the Linux build, this one uses the standard Mac compiler tools and+the standard Unreal Engine 4.21 distribution.

Change to 4.22

geohot

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Pull request review commentcarla-simulator/carla

Add support for building on Mac OS X

 static void TestSequence(carla::ListView<Iterator> view) { TEST(listview, sequence) {   int array[] = {0, 1, 2, 3, 4, 5};   TestSequence(MakeListView(array));-  std::array<int, 6u> std_array = {0, 1, 2, 3, 4, 5};+  std::array<int, 6u> std_array = {{0, 1, 2, 3, 4, 5}};

Does this need to be changed?

geohot

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Pull request review commentcarla-simulator/carla

Add support for building on Mac OS X

 def _is_quit_shortcut(key): class HUD(object):     def __init__(self, width, height):         self.dim = (width, height)-        font = pygame.font.Font(pygame.font.get_default_font(), 20)-        fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]-        default_font = 'ubuntumono'-        mono = default_font if default_font in fonts else fonts[0]-        mono = pygame.font.match_font(mono)-        self._font_mono = pygame.font.Font(mono, 14)+        if sys.platform == 'darwin': 

I think this can be removed, pygame works fine on my Mac.

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George Hotz

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remove unneeded changes

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Pull request review commentcarla-simulator/carla

Add support for building on Mac OS X

 namespace std {      using argument_type = carla::road::element::Waypoint; -    using result_type = uint64_t;+    using result_type = unsigned long;

Gate based on OS?

geohot

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Pull request review commentcarla-simulator/carla

Add support for building on Mac OS X

 namespace client {   /// @todo Works as a list but its actually a map. We should assess the use   /// cases and reconsider this implementation.   class BlueprintLibrary-    : public EnableSharedFromThis<BlueprintLibrary>,-      private NonCopyable {+    : public EnableSharedFromThis<BlueprintLibrary> {

Changed this due to a complaint about the move constructor, can look more into it.

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Pull request review commentcarla-simulator/carla

Add support for building on Mac OS X

 namespace adaptor {    private: -    template <uint64_t I>+    template <unsigned long I>

TODO: Make this OS dependent?

geohot

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PR opened carla-simulator/carla

Add support for building on Mac OS X

This is all the work of analog-cbarber, I just rebased it on master and submitted the pull request. Would close issue #150

It would be great to have OS X binaries. Should be possible to refactor this to duplicate the build scripts less as well.

What would it take to get this merged?

+1887 -26

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George Hotz

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mac doesn't use that one

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extra }

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George Hotz

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fix types

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George Hotz

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fix version.h issue

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George Hotz

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setbacks

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PR opened geohot/carla

Mac merge

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Fixes # <!-- If fixes an issue, please add here the issue number. -->

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+1885 -26

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branch : mac-build-master

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George Hotz

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blueprint better

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George Hotz

commit sha 811b3b7a9acbcd71ae3e80990cdf39e9e0289c55

Fix ui on mac (#1044) * remove line_shader dead code * fix glfwCreateWindow * don't assert on ipc socket failure * window now appears on mac

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PR merged commaai/openpilot

Fix ui on mac
+28 -26

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Christopher Barber

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Checkpoint Mac build support This uses a standard UE 4.19 download with one minor addition: copy the GenerateProjectFiles.sh script from a UnrealEngine source tree into the root 4.19 directory. Requires Xcode 9.2, which is the latest version that is compatiable with OSX 10.12.6 (Sierra). Was able to build everything using python2 API. You may need to define a ~/user-config.jam file to describe your Python installations to be able to build boost-python. Still need to figure out how to build more than one version of libboost-python.

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Add mac build instructions

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Merge branch 'master' into mac-build-0.9

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Allow Xcode version >= 9.2 in Mac Setup.command Someone was able to make 9.4.1 work (see comment for issue #150), so I will assume anything with version 9.2 or later is ok.

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On the Mac, build using Xcode by default You can run Setup.command with --no-xcode command to use the Linux build tools (Ninja and make).

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Merge branch 'master' into mac-build-0.9

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Fix LibCarla tests for mac builds (issue #150) Had been failing on test for Message exceeding max size.

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Fix `make check` for mac build (issue #150) This fixes the broken python tests, which were failing because the path to the egg was incorrect for the Mac.

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Checkpoint merge from master

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Checkpoint Mac build changes

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Adding missing link commands to setup.py for mac

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Workaround pygame font issue on mac in manual_control.py

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Mac platform settings for Unreal

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Merge branch 'master' into mac-build-0.9

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conda recipe for python 3.6

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Merge 0.9.4 into mac-build-0.9 branch

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Fix missing braces warning on Mac

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window now appears on mac

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