Feature/live map data 0.8.3

.gitmodules

@@ -9,7 +9,7 @@
 	url = ../../commaai/laika.git
 [submodule "cereal"]
 	path = cereal
-	url = ../../commaai/cereal.git
+	url = ../../move-fast/cereal.git
 [submodule "rednose_repo"]
 	path = rednose_repo
 	url = ../../commaai/rednose.git

Pipfile

@@ -113,6 +113,7 @@ onnx = "*"
 onnxruntime = "*"
 timezonefinder = "*"
 sentry-sdk = "*"
+opspline = {git = "https://github.com/move-fast/opspline.git", editable = true, ref = "master"}
 
 [requires]
 python_version = "3.8"

common/params_pyx.pyx

@@ -38,6 +38,7 @@ keys = {
   b"GithubSshKeys": [TxType.PERSISTENT],
   b"GithubUsername": [TxType.PERSISTENT],
   b"HardwareSerial": [TxType.PERSISTENT],
+  b"HandsOnWheelMonitoring": [TxType.PERSISTENT],
   b"HasAcceptedTerms": [TxType.PERSISTENT],
   b"HasCompletedSetup": [TxType.PERSISTENT],
   b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
@@ -54,6 +55,7 @@ keys = {
   b"LastUpdateException": [TxType.PERSISTENT],
   b"LastUpdateTime": [TxType.PERSISTENT],
   b"LiveParameters": [TxType.PERSISTENT],
+  b"MaxDecelerationForTurns": [TxType.PERSISTENT],
   b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
   b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
@@ -63,11 +65,15 @@ keys = {
   b"RecordFrontLock": [TxType.PERSISTENT],  # for the internal fleet
   b"ReleaseNotes": [TxType.PERSISTENT],
   b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  b"SpeedLimitControl": [TxType.PERSISTENT],
+  b"SpeedLimitPercOffset": [TxType.PERSISTENT],
   b"SubscriberInfo": [TxType.PERSISTENT],
   b"SshEnabled": [TxType.PERSISTENT],
   b"TermsVersion": [TxType.PERSISTENT],
   b"Timezone": [TxType.PERSISTENT],
   b"TrainingVersion": [TxType.PERSISTENT],
+  b"TurnVisionControl": [TxType.PERSISTENT],
+  b"TurnSpeedControl": [TxType.PERSISTENT],
   b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
   b"Version": [TxType.PERSISTENT],

installer/custom/install_gfortran.sh

@@ -0,0 +1,34 @@
+#!/data/data/com.termux/files/usr/bin/sh
+# Get some needed tools. coreutils for mkdir command, gnugp for the signing key, and apt-transport-https to actually connect to the repo
+apt-get update
+apt-get --assume-yes upgrade
+apt-get --assume-yes install coreutils gnupg
+
+# Make the sources.list.d directory
+mkdir -p $PREFIX/etc/apt/sources.list.d
+
+# Write the needed source file
+echo "deb https://its-pointless.github.io/files/24 termux extras" > $PREFIX/etc/apt/sources.list.d/pointless.list
+
+# Add signing key from https://its-pointless.github.io/pointless.gpg
+curl -sL https://its-pointless.github.io/pointless.gpg | apt-key add -
+
+# Update apt
+apt update
+
+# install gfortran
+apt install gcc-8 -y
+setupclang-gfort-8
+
+# Elf cleaner is needed to remove a DT_ENTRY warning that prints out when gfortran -v is called to get 
+# its version number and this breaks the pip installation script when fortran is used.
+
+# Build elf cleaner
+SCRIPTPATH="$( cd -- "$(dirname "$0")" >/dev/null 2>&1 ; pwd -P )"
+ELFCLEANERPATH=$SCRIPTPATH/termux-elf-cleaner/
+cd $ELFCLEANERPATH
+make
+
+# Perform elf cleaner on gfortran
+./termux-elf-cleaner $(which gfortran)
+

installer/custom/termux-elf-cleaner/Makefile

@@ -0,0 +1,16 @@
+CXXFLAGS += -std=c++11 -Wall -Wextra -pedantic
+PREFIX ?= /usr/local
+
+termux-elf-cleaner: termux-elf-cleaner.cpp
+
+clean:
+	rm -f termux-elf-cleaner
+
+install: termux-elf-cleaner
+	mkdir -p $(PREFIX)/bin
+	install termux-elf-cleaner $(PREFIX)/bin/termux-elf-cleaner
+
+uninstall:
+	rm -f $(PREFIX)/bin/termux-elf-cleaner
+
+.PHONY: clean install uninstall

installer/custom/termux-elf-cleaner/README.md

@@ -0,0 +1,39 @@
+# termux-elf-cleaner
+Utility for Android ELF files to remove unused parts that the linker warns about.
+
+## Description
+When loading ELF files, the Android linker warns about unsupported dynamic section entries with warnings such as:
+
+    WARNING: linker: /data/data/org.kost.nmap.android.networkmapper/bin/nmap: unused DT entry: type 0x6ffffffe arg 0x8a7d4
+    WARNING: linker: /data/data/org.kost.nmap.android.networkmapper/bin/nmap: unused DT entry: type 0x6fffffff arg 0x3
+
+This utility strips away the following dynamic section entries:
+
+- `DT_RPATH` - not supported in any Android version.
+- `DT_RUNPATH` - supported from Android 7.0.
+- `DT_VERDEF` - supported from Android 6.0.
+- `DT_VERDEFNUM` - supported from Android 6.0.
+- `DT_VERNEEDED` - supported from Android 6.0.
+- `DT_VERNEEDNUM` - supported from Android 6.0.
+- `DT_VERSYM` - supported from Android 6.0.
+
+It also removes the three ELF sections of type:
+
+- `SHT_GNU_verdef`
+- `SHT_GNU_verneed`
+- `SHT_GNU_versym`
+
+## Usage
+```sh
+usage: termux-elf-cleaner <filenames>
+
+Processes ELF files to remove unsupported section types and
+dynamic section entries which the Android linker warns about.
+```
+
+## Author
+Fredrik Fornwall ([@fornwall](https://github.com/fornwall)).
+
+## License
+
+SPDX-License-Identifier: [GPL-3.0-or-later](https://spdx.org/licenses/GPL-3.0-or-later.html)

installer/custom/termux-elf-cleaner/elf.h

@@ -0,0 +1,211 @@
+#ifndef ELF_H_INCLUDED
+#define ELF_H_INCLUDED
+
+#include <stdint.h>
+
+/* Type for a 16-bit quantity.  */
+typedef uint16_t Elf32_Half;
+typedef uint16_t Elf64_Half;
+
+/* Types for signed and unsigned 32-bit quantities.  */
+typedef uint32_t Elf32_Word;
+typedef int32_t  Elf32_Sword;
+typedef uint32_t Elf64_Word;
+typedef int32_t  Elf64_Sword;
+
+/* Types for signed and unsigned 64-bit quantities.  */
+typedef uint64_t Elf32_Xword;
+typedef int64_t  Elf32_Sxword;
+typedef uint64_t Elf64_Xword;
+typedef int64_t  Elf64_Sxword;
+
+/* Type of addresses.  */
+typedef uint32_t Elf32_Addr;
+typedef uint64_t Elf64_Addr;
+
+/* Type of file offsets.  */
+typedef uint32_t Elf32_Off;
+typedef uint64_t Elf64_Off;
+
+/* Type for section indices, which are 16-bit quantities.  */
+typedef uint16_t Elf32_Section;
+typedef uint16_t Elf64_Section;
+
+/* Type for version symbol information.  */
+typedef Elf32_Half Elf32_Versym;
+typedef Elf64_Half Elf64_Versym;
+
+
+/* The ELF file header.  This appears at the start of every ELF file.  */
+typedef struct {
+	unsigned char e_ident[16];     /* Magic number and other info */
+	Elf32_Half    e_type;                 /* Object file type */
+	Elf32_Half    e_machine;              /* Architecture */
+	Elf32_Word    e_version;              /* Object file version */
+	Elf32_Addr    e_entry;                /* Entry point virtual address */
+	Elf32_Off     e_phoff;                /* Program header table (usually follows elf header directly) file offset */
+	Elf32_Off     e_shoff;                /* Section header table (at end of file) file offset */
+	Elf32_Word    e_flags;                /* Processor-specific flags */
+	Elf32_Half    e_ehsize;               /* ELF header size in bytes */
+	Elf32_Half    e_phentsize;            /* Program header table entry size */
+	Elf32_Half    e_phnum;                /* Program header table entry count */
+	Elf32_Half    e_shentsize;            /* Section header table entry size */
+	Elf32_Half    e_shnum;                /* Section header table entry count */
+	Elf32_Half    e_shstrndx;             /* Section header string table index */
+} Elf32_Ehdr;
+typedef struct {
+	unsigned char e_ident[16];     /* Magic number and other info */
+	Elf64_Half    e_type;                 /* Object file type */
+	Elf64_Half    e_machine;              /* Architecture */
+	Elf64_Word    e_version;              /* Object file version */
+	Elf64_Addr    e_entry;                /* Entry point virtual address */
+	Elf64_Off     e_phoff;                /* Program header table file offset */
+	Elf64_Off     e_shoff;                /* Section header table file offset */
+	Elf64_Word    e_flags;                /* Processor-specific flags */
+	Elf64_Half    e_ehsize;               /* ELF header size in bytes */
+	Elf64_Half    e_phentsize;            /* Program header table entry size */
+	Elf64_Half    e_phnum;                /* Program header table entry count */
+	Elf64_Half    e_shentsize;            /* Section header table entry size */
+	Elf64_Half    e_shnum;                /* Section header table entry count */
+	Elf64_Half    e_shstrndx;             /* Section header string table index */
+} Elf64_Ehdr;
+
+/* Section header entry. The number of section entries in the file are determined by the "e_shnum" field of the ELF header.*/
+typedef struct {
+	Elf32_Word    sh_name;                /* Section name (string tbl index) */
+	Elf32_Word    sh_type;                /* Section type */
+	Elf32_Word    sh_flags;               /* Section flags */
+	Elf32_Addr    sh_addr;                /* Section virtual addr at execution */
+	Elf32_Off     sh_offset;              /* Section file offset */
+	Elf32_Word    sh_size;                /* Section size in bytes */
+	Elf32_Word    sh_link;                /* Link to another section */
+	Elf32_Word    sh_info;                /* Additional section information */
+	Elf32_Word    sh_addralign;           /* Section alignment */
+	Elf32_Word    sh_entsize;             /* Entry size if section holds table */
+} Elf32_Shdr;
+typedef struct {
+	Elf64_Word    sh_name;                /* Section name (string tbl index) */
+	Elf64_Word    sh_type;                /* Section type */
+	Elf64_Xword   sh_flags;               /* Section flags */
+	Elf64_Addr    sh_addr;                /* Section virtual addr at execution */
+	Elf64_Off     sh_offset;              /* Section file offset */
+	Elf64_Xword   sh_size;                /* Section size in bytes */
+	Elf64_Word    sh_link;                /* Link to another section */
+	Elf64_Word    sh_info;                /* Additional section information */
+	Elf64_Xword   sh_addralign;           /* Section alignment */
+	Elf64_Xword   sh_entsize;             /* Entry size if section holds table */
+} Elf64_Shdr;
+
+/* Legal values for sh_type (section type).  */
+#define SHT_NULL          0             /* Section header table entry unused */
+#define SHT_PROGBITS      1             /* Program data */
+#define SHT_SYMTAB        2             /* Symbol table */
+#define SHT_STRTAB        3             /* String table */
+#define SHT_RELA          4             /* Relocation entries with addends */
+#define SHT_HASH          5             /* Symbol hash table */
+#define SHT_DYNAMIC       6             /* Dynamic linking information. Contains Elf32_Dyn/Elf64_Dyn entries. */
+#define SHT_NOTE          7             /* Notes */
+#define SHT_NOBITS        8             /* Program space with no data (bss) */
+#define SHT_REL           9             /* Relocation entries, no addends */
+#define SHT_SHLIB         10            /* Reserved */
+#define SHT_DYNSYM        11            /* Dynamic linker symbol table */
+#define SHT_INIT_ARRAY    14            /* Array of constructors */
+#define SHT_FINI_ARRAY    15            /* Array of destructors */
+#define SHT_PREINIT_ARRAY 16            /* Array of pre-constructors */
+#define SHT_GROUP         17            /* Section group */
+#define SHT_SYMTAB_SHNDX  18            /* Extended section indeces */
+#define SHT_NUM           19            /* Number of defined types.  */
+#define SHT_LOOS          0x60000000    /* Start OS-specific.  */
+#define SHT_GNU_ATTRIBUTES 0x6ffffff5   /* Object attributes.  */
+#define SHT_GNU_HASH      0x6ffffff6    /* GNU-style hash table.  */
+#define SHT_GNU_LIBLIST   0x6ffffff7    /* Prelink library list */
+#define SHT_CHECKSUM      0x6ffffff8    /* Checksum for DSO content.  */
+#define SHT_LOSUNW        0x6ffffffa    /* Sun-specific low bound.  */
+#define SHT_SUNW_move     0x6ffffffa
+#define SHT_SUNW_COMDAT   0x6ffffffb
+#define SHT_SUNW_syminfo  0x6ffffffc
+#define SHT_GNU_verdef    0x6ffffffd    /* Version definition section.  */
+#define SHT_GNU_verneed   0x6ffffffe    /* Version needs section.  */
+#define SHT_GNU_versym    0x6fffffff    /* Version symbol table.  */
+#define SHT_HISUNW        0x6fffffff    /* Sun-specific high bound.  */
+#define SHT_HIOS          0x6fffffff    /* End OS-specific type */
+#define SHT_LOPROC        0x70000000    /* Start of processor-specific */
+#define SHT_HIPROC        0x7fffffff    /* End of processor-specific */
+#define SHT_LOUSER        0x80000000    /* Start of application-specific */
+#define SHT_HIUSER        0x8fffffff    /* End of application-specific */
+
+/* Dynamic section entry.  */
+typedef struct {
+	Elf32_Sword d_tag;                  			/* Dynamic entry type */
+	union { Elf32_Word d_val; Elf32_Addr d_ptr; } d_un; 	/* Integer or address value */
+} Elf32_Dyn;
+typedef struct {
+	Elf64_Sxword d_tag;                  			/* Dynamic entry type */
+	union { Elf64_Xword d_val; Elf64_Addr d_ptr; } d_un;	/* Integer or address value */
+} Elf64_Dyn;
+
+/* Legal values for d_tag (dynamic entry type).  */
+#define DT_NULL         0               /* Marks end of dynamic section */
+#define DT_NEEDED       1               /* Name of needed library */
+#define DT_PLTRELSZ     2               /* Size in bytes of PLT relocs */
+#define DT_PLTGOT       3               /* Processor defined value */
+#define DT_HASH         4               /* Address of symbol hash table */
+#define DT_STRTAB       5               /* Address of string table */
+#define DT_SYMTAB       6               /* Address of symbol table */
+#define DT_RELA         7               /* Address of Rela relocs */
+#define DT_RELASZ       8               /* Total size of Rela relocs */
+#define DT_RELAENT      9               /* Size of one Rela reloc */
+#define DT_STRSZ        10              /* Size of string table */
+#define DT_SYMENT       11              /* Size of one symbol table entry */
+#define DT_INIT         12              /* Address of init function */
+#define DT_FINI         13              /* Address of termination function */
+#define DT_SONAME       14              /* Name of shared object */
+#define DT_RPATH        15              /* Library search path (deprecated) */
+#define DT_SYMBOLIC     16              /* Start symbol search here */
+#define DT_REL          17              /* Address of Rel relocs */
+#define DT_RELSZ        18              /* Total size of Rel relocs */
+#define DT_RELENT       19              /* Size of one Rel reloc */
+#define DT_PLTREL       20              /* Type of reloc in PLT */
+#define DT_DEBUG        21              /* For debugging; unspecified */
+#define DT_TEXTREL      22              /* Reloc might modify .text */
+#define DT_JMPREL       23              /* Address of PLT relocs */
+#define DT_BIND_NOW     24              /* Process relocations of object */
+#define DT_INIT_ARRAY   25              /* Array with addresses of init fct */
+#define DT_FINI_ARRAY   26              /* Array with addresses of fini fct */
+#define DT_INIT_ARRAYSZ 27              /* Size in bytes of DT_INIT_ARRAY */
+#define DT_FINI_ARRAYSZ 28              /* Size in bytes of DT_FINI_ARRAY */
+#define DT_RUNPATH      29              /* Library search path */
+#define DT_FLAGS        30              /* Flags for the object being loaded */
+#define DT_ENCODING     32              /* Start of encoded range */
+#define DT_PREINIT_ARRAY 32             /* Array with addresses of preinit fct*/
+#define DT_PREINIT_ARRAYSZ 33           /* size in bytes of DT_PREINIT_ARRAY */
+#define DT_NUM          34              /* Number used */
+#define DT_LOOS         0x6000000d      /* Start of OS-specific */
+#define DT_HIOS         0x6ffff000      /* End of OS-specific */
+#define DT_VERDEF       0x6ffffffc
+#define DT_VERDEFNUM    0x6ffffffd
+#define DT_LOPROC       0x70000000      /* Start of processor-specific */
+#define DT_HIPROC       0x7fffffff      /* End of processor-specific */
+
+
+/* Symbol table entry.  */
+typedef struct {
+	Elf32_Word    st_name;                /* Symbol name (string tbl index) */
+	Elf32_Addr    st_value;               /* Symbol value */
+	Elf32_Word    st_size;                /* Symbol size */
+	unsigned char st_info;                /* Symbol type and binding */
+	unsigned char st_other;               /* Symbol visibility */
+	Elf32_Section st_shndx;               /* Section index */
+} Elf32_Sym;
+
+typedef struct {
+	Elf64_Word    st_name;                /* Symbol name (string tbl index) */
+	unsigned char st_info;                /* Symbol type and binding */
+	unsigned char st_other;               /* Symbol visibility */
+	Elf64_Section st_shndx;               /* Section index */
+	Elf64_Addr    st_value;               /* Symbol value */
+	Elf64_Xword   st_size;                /* Symbol size */
+} Elf64_Sym;
+
+
+#endif