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openpilot v0.3.7 release

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old-commit-hash: daf54ad54d
This commit is contained in:
Vehicle Researcher
2017-09-30 03:07:27 -07:00
parent 7a6d152ae0
commit 2c0cc6103a
130 changed files with 3557 additions and 1717 deletions
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cereal/Makefile
+44 -3
View File
@@ -1,4 +1,45 @@
-include build_from_src.mk
SRCS := log.capnp car.capnp
GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
UNAME_M ?= $(shell uname -m)
# only generate C++ for docker tests
ifneq ($(OPTEST),1)
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
# Dont build java on the phone...
ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
endif
endif
.PHONY: all
all: $(GENS)
.PHONY: clean
clean:
rm -rf gen
gen/c/%.capnp.c: %.capnp
@echo "[ CAPNPC C ] $@"
mkdir -p gen/c/
capnpc '$<' -o c:gen/c/
gen/cpp/%.capnp.c++: %.capnp
@echo "[ CAPNPC C++ ] $@"
mkdir -p gen/cpp/
capnpc '$<' -o c++:gen/cpp/
gen/java/Car.java gen/java/Log.java: $(SRCS)
@echo "[ CAPNPC java ] $@"
mkdir -p gen/java/
capnpc $^ -o java:gen/java
# c-capnproto needs some empty headers
gen/c/c++.capnp.h gen/c/java.capnp.h:
mkdir -p gen/c/
touch '$@'
release:
@echo "cereal: this is a release"
cereal/build_from_src.mk
-45
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@@ -1,45 +0,0 @@
SRCS := log.capnp car.capnp
GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
UNAME_M ?= $(shell uname -m)
# only generate C++ for docker tests
ifneq ($(OPTEST),1)
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
# Dont build java on the phone...
ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
endif
endif
.PHONY: all
all: $(GENS)
.PHONY: clean
clean:
rm -rf gen
gen/c/%.capnp.c: %.capnp
@echo "[ CAPNPC C ] $@"
mkdir -p gen/c/
capnpc '$<' -o c:gen/c/
gen/cpp/%.capnp.c++: %.capnp
@echo "[ CAPNPC C++ ] $@"
mkdir -p gen/cpp/
capnpc '$<' -o c++:gen/cpp/
gen/java/Car.java gen/java/Log.java: $(SRCS)
@echo "[ CAPNPC java ] $@"
mkdir -p gen/java/
capnpc $^ -o java:gen/java
# c-capnproto needs some empty headers
gen/c/c++.capnp.h gen/c/java.capnp.h:
mkdir -p gen/c/
touch '$@'
cereal/car.capnp
+129 -56
View File
@@ -7,11 +7,59 @@ $Java.outerClassname("Car");
@0x8e2af1e708af8b8d;
# ******* events causing controls state machine transition *******
struct CarEvent @0x9b1657f34caf3ad3 {
name @0 :EventName;
enable @1 :Bool;
preEnable @7 :Bool;
noEntry @2 :Bool;
warning @3 :Bool;
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
enum EventName @0xbaa8c5d505f727de {
# TODO: copy from error list
commIssue @0;
steerUnavailable @1;
brakeUnavailable @2;
gasUnavailable @3;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
espDisabled @7;
wrongCarMode @8;
steerTempUnavailable @9;
reverseGear @10;
buttonCancel @11;
buttonEnable @12;
pedalPressed @13;
cruiseDisabled @14;
radarCommIssue @15;
dataNeeded @16;
speedTooLow @17;
outOfSpace @18;
overheat @19;
calibrationInProgress @20;
calibrationInvalid @21;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
noTarget @25;
radarFault @26;
modelCommIssue @27;
brakeHold @28;
parkBrake @29;
}
}
# ******* main car state @ 100hz *******
# all speeds in m/s
struct CarState {
errors @0: List(Error);
errorsDEPRECATED @0 :List(CarEvent.EventName);
events @13 :List(CarEvent);
# car speed
vEgo @1 :Float32; # best estimate of speed
@@ -33,6 +81,9 @@ struct CarState {
# cruise state
cruiseState @10 :CruiseState;
# gear
gearShifter @14 :GearShifter;
# button presses
buttonEvents @11 :List(ButtonEvent);
@@ -48,31 +99,28 @@ struct CarState {
}
struct CruiseState {
enabled @0: Bool;
speed @1: Float32;
available @2: Bool;
enabled @0 :Bool;
speed @1 :Float32;
available @2 :Bool;
speedOffset @3 :Float32;
}
enum Error {
# TODO: copy from error list
commIssue @0;
steerUnavailable @1;
brakeUnavailable @2;
gasUnavailable @3;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
espDisabled @7;
wrongCarMode @8;
steerTempUnavailable @9;
reverseGear @10;
# ...
enum GearShifter {
unknown @0;
park @1;
drive @2;
neutral @3;
reverse @4;
sport @5;
low @6;
brake @7;
}
# send on change
struct ButtonEvent {
pressed @0: Bool;
type @1: Type;
pressed @0 :Bool;
type @1 :Type;
enum Type {
unknown @0;
@@ -91,29 +139,30 @@ struct CarState {
# ******* radar state @ 20hz *******
struct RadarState {
errors @0: List(Error);
points @1: List(RadarPoint);
errors @0 :List(Error);
points @1 :List(RadarPoint);
# which packets this state came from
canMonoTimes @2: List(UInt64);
canMonoTimes @2 :List(UInt64);
enum Error {
notValid @0;
commIssue @0;
fault @1;
}
# similar to LiveTracks
# is one timestamp valid for all? I think so
struct RadarPoint {
trackId @0: UInt64; # no trackId reuse
trackId @0 :UInt64; # no trackId reuse
# these 3 are the minimum required
dRel @1: Float32; # m from the front bumper of the car
yRel @2: Float32; # m
vRel @3: Float32; # m/s
dRel @1 :Float32; # m from the front bumper of the car
yRel @2 :Float32; # m
vRel @3 :Float32; # m/s
# these are optional and valid if they are not NaN
aRel @4: Float32; # m/s^2
yvRel @5: Float32; # m/s
aRel @4 :Float32; # m/s^2
yvRel @5 :Float32; # m/s
}
}
@@ -121,17 +170,24 @@ struct RadarState {
struct CarControl {
# must be true for any actuator commands to work
enabled @0: Bool;
enabled @0 :Bool;
# range from 0.0 - 1.0
gas @1: Float32;
brake @2: Float32;
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
steeringTorqueDEPRECATED @3 :Float32;
# range from -1.0 - 1.0
steeringTorque @3 :Float32;
actuators @6 :Actuators;
cruiseControl @4: CruiseControl;
hudControl @5: HUDControl;
cruiseControl @4 :CruiseControl;
hudControl @5 :HUDControl;
struct Actuators {
# range from 0.0 - 1.0
gas @0: Float32;
brake @1: Float32;
# range from -1.0 - 1.0
steer @2: Float32;
}
struct CruiseControl {
cancel @0: Bool;
@@ -178,31 +234,48 @@ struct CarControl {
# ****** car param ******
struct CarParams {
carName @0: Text;
radarName @1: Text;
carFingerprint @2: Text;
carName @0 :Text;
radarName @1 :Text;
carFingerprint @2 :Text;
enableSteer @3: Bool;
enableGas @4: Bool;
enableBrake @5: Bool;
enableCruise @6: Bool;
enableSteer @3 :Bool;
enableGas @4 :Bool;
enableBrake @5 :Bool;
enableCruise @6 :Bool;
minEnableSpeed @18 :Float32;
safetyModel @19 :Int16;
steerMaxBP @20 :List(Float32);
steerMaxV @21 :List(Float32);
gasMaxBP @22 :List(Float32);
gasMaxV @23 :List(Float32);
brakeMaxBP @24 :List(Float32);
brakeMaxV @25 :List(Float32);
enum SafetyModels {
# from board
default @0;
honda @1;
toyota @2;
}
# things about the car in the manual
m @7: Float32; # [kg] running weight
l @8: Float32; # [m] wheelbase
sR @9: Float32; # [] steering ratio
aF @10: Float32; # [m] GC distance to front axle
aR @11: Float32; # [m] GC distance to rear axle
chi @12: Float32; # [] rear steering ratio wrt front steering (usually 0)
m @7 :Float32; # [kg] running weight
l @8 :Float32; # [m] wheelbase
sR @9 :Float32; # [] steering ratio
aF @10 :Float32; # [m] GC distance to front axle
aR @11 :Float32; # [m] GC distance to rear axle
chi @12 :Float32; # [] rear steering ratio wrt front steering (usually 0)
# things we can derive
j @13: Float32; # [kg*m2] body rot inertia
cF @14: Float32; # [N/rad] front tire coeff of stiff
cR @15: Float32; # [N/rad] rear tire coeff of stiff
j @13 :Float32; # [kg*m2] body rotational inertia
cF @14 :Float32; # [N/rad] front tire coeff of stiff
cR @15 :Float32; # [N/rad] rear tire coeff of stiff
# Kp and Ki for the lateral control
steerKp @16: Float32;
steerKi @17: Float32;
steerKp @16 :Float32;
steerKi @17 :Float32;
# TODO: Kp and Ki for long control, perhaps not needed?
}
cereal/log.capnp
+127 -60
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@@ -92,10 +92,10 @@ struct InitData {
}
struct PandaInfo {
hasPanda @0: Bool;
dongleId @1: Text;
stVersion @2: Text;
espVersion @3: Text;
hasPanda @0 :Bool;
dongleId @1 :Text;
stVersion @2 :Text;
espVersion @3 :Text;
}
}
@@ -110,9 +110,10 @@ struct FrameData {
frameType @7 :FrameType;
timestampSof @8 :UInt64;
transform @10 :List(Float32);
androidCaptureResult @9 :AndroidCaptureResult;
enum FrameType {
unknown @0;
neo @1;
@@ -196,10 +197,10 @@ struct GpsLocationData {
timestamp @7 :Int64;
source @8 :SensorSource;
# Represents NED velocity in m/s.
vNED @9 :List(Float32);
# Represents expected vertical accuracy in meters. (presumably 1 sigma?)
verticalAccuracy @10 :Float32;
@@ -239,7 +240,9 @@ struct ThermalData {
# not thermal
freeSpace @7 :Float32;
batteryPercent @8 :Int16;
batteryStatus @9: Text;
batteryStatus @9 :Text;
fanSpeed @10 :UInt16;
}
struct HealthData {
@@ -254,8 +257,8 @@ struct HealthData {
struct LiveUI {
rearViewCam @0 :Bool;
alertText1 @1 :Text;
alertText2 @2 :Text;
alertText1 @1 :Text;
alertText2 @2 :Text;
awarenessStatus @3 :Float32;
}
@@ -264,6 +267,7 @@ struct Live20Data {
mdMonoTime @6 :UInt64;
ftMonoTimeDEPRECATED @7 :UInt64;
l100MonoTime @11 :UInt64;
radarErrors @12 :List(Car.RadarState.Error);
# all deprecated
warpMatrixDEPRECATED @0 :List(Float32);
@@ -294,6 +298,7 @@ struct Live20Data {
struct LiveCalibrationData {
warpMatrix @0 :List(Float32);
warpMatrix2 @5 :List(Float32);
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
@@ -340,14 +345,14 @@ struct Live100Data {
hudLeadDEPRECATED @14 :Int32;
cumLagMs @15 :Float32;
enabled @19: Bool;
steerOverride @20: Bool;
enabled @19 :Bool;
steerOverride @20 :Bool;
vCruise @22: Float32;
vCruise @22 :Float32;
rearViewCam @23 :Bool;
alertText1 @24 :Text;
alertText2 @25 :Text;
alertText1 @24 :Text;
alertText2 @25 :Text;
awarenessStatus @26 :Float32;
angleOffset @27 :Float32;
@@ -387,6 +392,7 @@ struct ModelData {
bigBoxHeight @3 :UInt16;
boxProjection @4 :List(Float32);
yuvCorrection @5 :List(Float32);
inputTransform @6 :List(Float32);
}
}
@@ -399,7 +405,7 @@ struct CalibrationFeatures {
}
struct EncodeIndex {
# picture from camera
# picture from camera
frameId @0 :UInt32;
type @1 :Type;
# index of encoder from start of route
@@ -438,69 +444,79 @@ struct LogRotate {
struct Plan {
mdMonoTime @9 :UInt64;
l20MonoTime @10 :UInt64;
events @13 :List(Car.CarEvent);
# lateral, 3rd order polynomial
lateralValid @0: Bool;
lateralValid @0 :Bool;
dPoly @1 :List(Float32);
laneWidth @11 :Float32;
# longitudinal
longitudinalValid @2: Bool;
longitudinalValid @2 :Bool;
vTarget @3 :Float32;
aTargetMin @4 :Float32;
aTargetMax @5 :Float32;
jerkFactor @6 :Float32;
hasLead @7 :Bool;
fcw @8 :Bool;
# gps trajectory in car frame
gpsTrajectory @12 :GpsTrajectory;
struct GpsTrajectory {
x @0 :List(Float32);
y @1 :List(Float32);
}
}
struct LiveLocationData {
status @0: UInt8;
status @0 :UInt8;
# 3D fix
lat @1: Float64;
lon @2: Float64;
alt @3: Float32; # m
# 3D fix
lat @1 :Float64;
lon @2 :Float64;
alt @3 :Float32; # m
# speed
speed @4: Float32; # m/s
speed @4 :Float32; # m/s
# NED velocity components
vNED @5: List(Float32);
vNED @5 :List(Float32);
# roll, pitch, heading (x,y,z)
roll @6: Float32; # WRT to center of earth?
pitch @7: Float32; # WRT to center of earth?
heading @8: Float32; # WRT to north?
roll @6 :Float32; # WRT to center of earth?
pitch @7 :Float32; # WRT to center of earth?
heading @8 :Float32; # WRT to north?
# what are these?
wanderAngle @9: Float32;
trackAngle @10: Float32;
wanderAngle @9 :Float32;
trackAngle @10 :Float32;
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
# gyro, in car frame, deg/s
gyro @11: List(Float32);
gyro @11 :List(Float32);
# accel, in car frame, m/s^2
accel @12: List(Float32);
accel @12 :List(Float32);
accuracy @13: Accuracy;
accuracy @13 :Accuracy;
struct Accuracy {
pNEDError @0: List(Float32);
vNEDError @1: List(Float32);
rollError @2: Float32;
pitchError @3: Float32;
headingError @4: Float32;
ellipsoidSemiMajorError @5: Float32;
ellipsoidSemiMinorError @6: Float32;
ellipsoidOrientationError @7: Float32;
pNEDError @0 :List(Float32);
vNEDError @1 :List(Float32);
rollError @2 :Float32;
pitchError @3 :Float32;
headingError @4 :Float32;
ellipsoidSemiMajorError @5 :Float32;
ellipsoidSemiMinorError @6 :Float32;
ellipsoidOrientationError @7 :Float32;
}
}
struct EthernetPacket {
pkt @0 :Data;
ts @1: Float32;
ts @1 :Float32;
}
struct NavUpdate {
@@ -602,7 +618,7 @@ struct AndroidGnss {
hasLeapSecond @4 :Bool;
leapSecond @5 :Int32;
hasFullBiasNanos @6 :Bool;
fullBiasNanos @7 :Int64;
@@ -611,10 +627,10 @@ struct AndroidGnss {
hasBiasUncertaintyNanos @10 :Bool;
biasUncertaintyNanos @11 :Float64;
hasDriftNanosPerSecond @12 :Bool;
driftNanosPerSecond @13 :Float64;
hasDriftUncertaintyNanosPerSecond @14 :Bool;
driftUncertaintyNanosPerSecond @15 :Float64;
}
@@ -633,7 +649,7 @@ struct AndroidGnss {
accumulatedDeltaRangeState @9 :Int32;
accumulatedDeltaRangeMeters @10 :Float64;
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
hasCarrierFrequencyHz @12 :Bool;
carrierFrequencyHz @13 :Float32;
hasCarrierCycles @14 :Bool;
@@ -705,6 +721,8 @@ struct QcomGnss {
measurementReport @1 :MeasurementReport;
clockReport @2 :ClockReport;
drMeasurementReport @3 :DrMeasurementReport;
drSvPoly @4 :DrSvPolyReport;
rawLog @5 :Data;
}
enum MeasurementSource @0xd71a12b6faada7ee {
@@ -742,18 +760,18 @@ struct QcomGnss {
measurementNotUsable @12 :Bool;
sirCheckIsNeeded @13 :Bool;
probationMode @14 :Bool;
glonassMeanderBitEdgeValid @15 :Bool;
glonassTimeMarkValid @16 :Bool;
gpsRoundRobinRxDiversity @17 :Bool;
gpsRxDiversity @18 :Bool;
gpsLowBandwidthRxDiversityCombined @19 :Bool;
gpsHighBandwidthNu4 @20 :Bool;
gpsHighBandwidthNu8 @21 :Bool;
gpsHighBandwidthUniform @22 :Bool;
gpsMultipathIndicator @23 :Bool;
multipathIndicator @23 :Bool;
imdJammingIndicator @24 :Bool;
lteB13TxJammingIndicator @25 :Bool;
freshMeasurementIndicator @26 :Bool;
@@ -953,6 +971,37 @@ struct QcomGnss {
goodParity @32 :Bool;
}
}
struct DrSvPolyReport {
svId @0 :UInt16;
frequencyIndex @1 :Int8;
hasPosition @2 :Bool;
hasIono @3 :Bool;
hasTropo @4 :Bool;
hasElevation @5 :Bool;
polyFromXtra @6 :Bool;
hasSbasIono @7 :Bool;
iode @8 :UInt16;
t0 @9 :Float64;
xyz0 @10 :List(Float64);
xyzN @11 :List(Float64);
other @12 :List(Float32);
positionUncertainty @13 :Float32;
ionoDelay @14 :Float32;
ionoDot @15 :Float32;
sbasIonoDelay @16 :Float32;
sbasIonoDot @17 :Float32;
tropoDelay @18 :Float32;
elevation @19 :Float32;
elevationDot @20 :Float32;
elevationUncertainty @21 :Float32;
velocityCoeff @22 :List(Float64);
}
}
struct LidarPts {
@@ -1037,12 +1086,12 @@ struct UbloxGnss {
# num of measurements to follow
numMeas @4 :UInt8;
measurements @5 :List(Measurement);
struct ReceiverStatus {
# leap seconds have been determined
# leap seconds have been determined
leapSecValid @0 :Bool;
# Clock reset applied
clkReset @1 : Bool;
clkReset @1 :Bool;
}
struct Measurement {
@@ -1060,7 +1109,7 @@ struct UbloxGnss {
# carrier phase locktime counter in ms
locktime @7 :UInt16;
# Carrier-to-noise density ratio (signal strength) in dBHz
cno @8 : UInt8;
cno @8 :UInt8;
# pseudorange standard deviation in meters
pseudorangeStdev @9 :Float32;
# carrier phase standard deviation in cycles
@@ -1103,31 +1152,47 @@ struct UbloxGnss {
ecc @15 :Float64;
cus @16 :Float64;
a @17 :Float64; # note that this is not the root!!
toe @18 :Float64;
cic @19 :Float64;
omega0 @20 :Float64;
cis @21 :Float64;
i0 @22 :Float64;
crc @23 :Float64;
omega @24 :Float64;
omegaDot @25 :Float64;
iDot @26 :Float64;
codesL2 @27 :Float64;
gpsWeek @28 :Float64;
l2 @29 :Float64;
svAcc @30 :Float64;
svHealth @31 :Float64;
tgd @32 :Float64;
iodc @33 :Float64;
transmissionTime @34 :Float64;
fitInterval @35 :Float64;
}
}
struct Clocks {
bootTimeNanos @0 :UInt64;
monotonicNanos @1 :UInt64;
monotonicRawNanos @2 :UInt64;
wallTimeNanos @3 :UInt64;
modemUptimeMillis @4 :UInt64;
}
struct LiveMpcData {
x @0 :List(Float32);
y @1 :List(Float32);
psi @2 :List(Float32);
delta @3 :List(Float32);
}
struct Event {
# in nanoseconds?
logMonoTime @0 :UInt64;
@@ -1144,7 +1209,7 @@ struct Event {
model @9 :ModelData;
features @10 :CalibrationFeatures;
sensorEvents @11 :List(SensorEventData);
health @12 : HealthData;
health @12 :HealthData;
live20 @13 :Live20Data;
liveUIDEPRECATED @14 :LiveUI;
encodeIdx @15 :EncodeIndex;
@@ -1167,5 +1232,7 @@ struct Event {
lidarPts @32 :LidarPts;
procLog @33 :ProcLog;
ubloxGnss @34 :UbloxGnss;
clocks @35 :Clocks;
liveMpc @36 :LiveMpcData;
}
}