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openpilot v0.7.8 release

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Vehicle Researcher
2020-08-13 00:37:05 +00:00
parent f370bf5ba6
commit 0aa4867be4
147 changed files with 3679 additions and 2713 deletions
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cereal/SConscript
+19 -20
View File
@@ -1,35 +1,34 @@
Import('env', 'arch', 'zmq')
Import('env', 'arch', 'zmq', 'cython_dependencies')
import shutil
gen_dir = Dir('gen')
messaging_dir = Dir('messaging')
# TODO: remove src-prefix and cereal from command string. can we set working directory?
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
env.Command(
['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
import shutil
env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
if shutil.which('capnpc-java'):
env.Command(
['gen/java/Car.java', 'gen/java/Log.java'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
# TODO: remove non shared cereal and messaging
cereal_objects = env.SharedObject([
'gen/cpp/car.capnp.c++',
'gen/cpp/log.capnp.c++',
])
'gen/cpp/car.capnp.c++',
'gen/cpp/log.capnp.c++',
])
env.Library('cereal', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects)
cereal_dir = Dir('.')
services_h = env.Command(
['services.h'],
['service_list.yaml', 'services.py'],
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
services_h = env.Command(['services.h'],
['service_list.yaml', 'services.py'],
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
messaging_objects = env.SharedObject([
'messaging/messaging.cc',
@@ -56,9 +55,9 @@ Depends('messaging/bridge.cc', services_h)
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
env.Command(['messaging/messaging_pyx.so'],
[messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
if GetOption('test'):
cereal/car.capnp
+2
View File
@@ -112,6 +112,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
wrongCruiseMode @87;
neosUpdateRequired @88;
modeldLagging @89;
deviceFalling @90;
}
}
@@ -474,6 +475,7 @@ struct CarParams {
volkswagenPq @21;
subaruLegacy @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
}
enum SteerControlType {
cereal/log.capnp
+5
View File
@@ -441,18 +441,22 @@ struct RadarState @0x9a185389d6fdd05f {
struct LiveCalibrationData {
# deprecated
warpMatrix @0 :List(Float32);
# camera_frame_from_model_frame
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
validBlocks @9 :Int32;
# view_frame_from_road_frame
# ui's is inversed needs new
extrinsicMatrix @4 :List(Float32);
# the direction of travel vector in device frame
rpyCalib @7 :List(Float32);
rpyCalibSpread @8 :List(Float32);
}
struct LiveTracks {
@@ -864,6 +868,7 @@ struct LiveLocationKalman {
posenetOK @18 :Bool = true;
gpsOK @19 :Bool = true;
sensorsOK @21 :Bool = true;
deviceStable @22 :Bool = true;
enum Status {
uninitialized @0;
cereal/messaging/__init__.py
-7
View File
@@ -122,13 +122,6 @@ def recv_one_retry(sock):
if dat is not None:
return log.Event.from_bytes(dat)
# TODO: This does not belong in messaging
def get_one_can(logcan):
while True:
can = recv_one_retry(logcan)
if len(can.can) > 0:
return can
class SubMaster():
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
self.poller = Poller()
cereal/messaging/messaging.hpp
+9 -7
View File
@@ -59,34 +59,36 @@ public:
};
class SubMaster {
public:
public:
SubMaster(const std::initializer_list<const char *> &service_list,
const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
int update(int timeout = 1000);
inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
bool updated(const char *name) const;
void drain();
cereal::Event::Reader &operator[](const char *name);
~SubMaster();
private:
uint64_t frame = 0;
bool updated(const char *name) const;
uint64_t rcv_frame(const char *name) const;
cereal::Event::Reader &operator[](const char *name);
private:
bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
Poller *poller_ = nullptr;
uint64_t frame_ = 0;
struct SubMessage;
std::map<SubSocket *, SubMessage *> messages_;
std::map<std::string, SubMessage *> services_;
};
class PubMaster {
public:
public:
PubMaster(const std::initializer_list<const char *> &service_list);
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
int send(const char *name, capnp::MessageBuilder &msg);
~PubMaster();
private:
private:
std::map<std::string, PubSocket *> sockets_;
};
cereal/messaging/messaging_pyx_setup.py
+3 -3
View File
@@ -39,7 +39,7 @@ if ARCH == "aarch64" and os.path.isdir("/system"):
extra_compile_args += ["-Wno-deprecated-register"]
libraries += ['gnustl_shared']
setup(name='CAN parser',
setup(name='messaging',
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
ext_modules=cythonize(
Extension(
@@ -51,7 +51,7 @@ setup(name='CAN parser',
extra_objects=[
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
]
)
),
nthreads=4,
),
nthreads=4,
)
cereal/messaging/socketmaster.cc
+23 -10
View File
@@ -2,20 +2,24 @@
#include <time.h>
#include "messaging.hpp"
#include "services.h"
#ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
#endif
static inline uint64_t nanos_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}
static const service *get_service(const char *name) {
for (const auto &it : services) {
if (strcmp(it.name, name) == 0) return &it;
}
return nullptr;
}
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
for (auto &v : list) {
if (strcmp(value, v) == 0) return true;
@@ -24,7 +28,7 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
}
class MessageContext {
public:
public:
MessageContext() { ctx_ = Context::create(); }
~MessageContext() { delete ctx_; }
Context *ctx_;
@@ -53,18 +57,18 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
assert(socket != 0);
poller_->registerSocket(socket);
SubMessage *m = new SubMessage{
.socket = socket,
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.buf = kj::heapArray<capnp::word>(1024)};
.socket = socket,
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.buf = kj::heapArray<capnp::word>(1024)};
messages_[socket] = m;
services_[name] = m;
}
}
int SubMaster::update(int timeout) {
if (++frame_ == UINT64_MAX) frame_ = 1;
if (++frame == UINT64_MAX) frame = 1;
for (auto &kv : messages_) kv.second->updated = false;
int updated = 0;
@@ -89,7 +93,7 @@ int SubMaster::update(int timeout) {
m->event = m->msg_reader->getRoot<cereal::Event>();
m->updated = true;
m->rcv_time = current_time;
m->rcv_frame = frame_;
m->rcv_frame = frame;
m->valid = m->event.getValid();
++updated;
@@ -126,8 +130,17 @@ void SubMaster::drain() {
}
}
bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
bool SubMaster::updated(const char *name) const {
return services_.at(name)->updated;
}
uint64_t SubMaster::rcv_frame(const char *name) const {
return services_.at(name)->rcv_frame;
}
cereal::Event::Reader &SubMaster::operator[](const char *name) {
return services_.at(name)->event;
};
SubMaster::~SubMaster() {
delete poller_;
cereal/service_list.yaml
+2 -1
View File
@@ -63,7 +63,7 @@ orbOdometry: [8057, true, 0.]
orbFeatures: [8058, false, 0.]
orbKeyFrame: [8059, true, 0.]
uiLayoutState: [8060, true, 0.]
frontEncodeIdx: [8061, true, 5.]
frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
orbFeaturesSummary: [8062, true, 0.]
driverState: [8063, true, 5., 1]
liveParameters: [8064, true, 20., 2]
@@ -77,6 +77,7 @@ carParams: [8071, true, 0.02, 1]
frontFrame: [8072, true, 10.]
dMonitoringState: [8073, true, 5., 1]
offroadLayout: [8074, false, 0.]
wideEncodeIdx: [8075, true, 20.]
testModel: [8040, false, 0.]
testLiveLocation: [8045, false, 0.]