1.Directory structure

cereal – The messaging spec used for all logs on the phone
common – Library like functionality we’ve developed here
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
- assets – Fonts for ui
- boardd – Daemon to talk to the board
- car – Code that talks to the car and implements CarInterface
- common – Shared C/C++ code for the daemons
- controls – Python controls (PID loops etc) for the car
- debug – Tools to help you debug and do car ports
- logcatd – Android logcat as a service
- loggerd – Logger and uploader of car data
- proclogd – Logs information from proc
- radar – Code that talks to the radar and implements RadarInterface
- sensord – IMU / GPS interface code
- test/plant – Car simulator running code through virtual maneuvers
- ui – The UI
- visiond – embedded vision pipeline

2.start entry

#selfdrive/manager.py     
     managed_processes = {
      "uploader": "selfdrive.loggerd.uploader",
      "controlsd": "selfdrive.controls.controlsd",
      "plannerd": "selfdrive.controls.plannerd",
      "radard": "selfdrive.controls.radard",
      "loggerd": ("loggerd", ["./loggerd"]),
      "logmessaged": "selfdrive.logmessaged",
      "tombstoned": "selfdrive.tombstoned",
      "logcatd": ("logcatd", ["./logcatd"]),
      "proclogd": ("proclogd", ["./proclogd"]),
      "boardd": ("boardd", ["./boardd"]),   # switch to c++ boardd
      "ui": ("ui", ["./ui"]),
      "visiond": ("visiond", ["./visiond"]),
      "sensord": ("sensord", ["./sensord"]), }
       car_started_processes = [
      'controlsd',
      'plannerd',
      'loggerd',
      'sensord',
      'radard',
      'visiond',
      'proclogd',
    ]

3.service_list.yaml

    # service_name:[port,shuld_log]


    # frame syncing packet
    frame: [8002, true]
    # accel, gyro, and compass
    sensorEvents: [8003, true]
    # GPS data, also global timestamp
    gpsNMEA: [8004, true]
    # CPU+MEM+GPU+BAT temps
    thermal: [8005, true]
    # List(CanData), list of can messages
    can: [8006, true]
    live100: [8007, true]
    # random events we want to log
    #liveEvent: [8008, true]
    model: [8009, true]
    features: [8010, true]
    health: [8011, true]
    live20: [8012, true]
    #liveUI: [8014, true]
    encodeIdx: [8015, true]
    liveTracks: [8016, true]
    sendcan: [8017, true]
    logMessage: [8018, true]
    liveCalibration: [8019, true]
    androidLog: [8020, true]
    carState: [8021, true]
    # 8022 is reserved for sshd
    carControl: [8023, true]
    plan: [8024, true]
    liveLocation: [8025, true]
    gpsLocation: [8026, true]
    ethernetData: [8027, true]
    navUpdate: [8028, true]
    qcomGnss: [8029, true]
    lidarPts: [8030, true]
    procLog: [8031, true]
    testModel: [8040, false]

4.plan

lateral plan : selfdrive.controls.lib.pathplanner
longitudal plan: selfdrive.controls.lib.adaptivecruise

sub_sock:car_state,model,live20
pub_sock:plan

5.control

LongControl : selfdrive.controls.lib.longcontrol
LatControl : selfdrive.controls.lib.latcontrol

sub_sock:can,plan,thermal,health
pub_sock:car_state,live100:carcontrol

    # *** 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)
    # *** steering PID loop ***
    final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, plan.dPoly, angle_offset, CP)
    # ***** control the car *****
    CC = car.CarControl.new_message()
    CC.enabled = enabled
    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
    # 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)
    #CC.cruiseControl.accelOverride = float(AC.a_pcm)
    # TODO: fix this
    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 = plan.hasLead
    CC.hudControl.visualAlert = visual_alert
    CC.hudControl.audibleAlert = audible_alert

6 minutes self_driving

    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

6.visiond

computer vision and machine learning embeded in visiond.

visiond uses an internal framework to run the neural net. Tensorflow is way too slow on phones.

Currently comma.ai have no plans to open source visiond.

7.radard

    # *** subscribe to features and model from visiond
    model = messaging.sub_sock(context, service_list['model'].port)
    PP = PathPlanner(model)
    # *** get path prediction from the model ***
    PP.update(sec_since_boot(), v_ego)

openpilot