openpilot v0.3.7 release

old-commit-hash: daf54ad54d

selfdrive/debug/can_printer.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python
 import os
+import sys
 import struct
 from collections import defaultdict
 from common.realtime import sec_since_boot
@@ -8,14 +9,14 @@ import selfdrive.messaging as messaging
 from selfdrive.services import service_list
 
 
-def can_printer():
+def can_printer(bus=0, max_msg=0x10000, addr="127.0.0.1"):
   context = zmq.Context()
-  logcan = messaging.sub_sock(context, service_list['can'].port)
+  logcan = messaging.sub_sock(context, service_list['can'].port, addr=addr)
 
   start = sec_since_boot()
   lp = sec_since_boot()
   msgs = defaultdict(list)
-  canbus = int(os.getenv("CAN", 0))
+  canbus = int(os.getenv("CAN", bus))
   while 1:
     can_recv = messaging.drain_sock(logcan, wait_for_one=True)
     for x in can_recv:
@@ -27,10 +28,18 @@ def can_printer():
       dd = chr(27) + "[2J"
       dd += "%5.2f\n" % (sec_since_boot() - start)
       for k,v in sorted(zip(msgs.keys(), map(lambda x: x[-1].encode("hex"), msgs.values()))):
-        dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
+        if k < max_msg:
+          dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
       print dd
       lp = sec_since_boot()
 
 if __name__ == "__main__":
-  can_printer()
-
+  if len(sys.argv) > 3:
+    can_printer(int(sys.argv[1]), int(sys.argv[2]), sys.argv[3])
+  elif len(sys.argv) > 2:
+    can_printer(int(sys.argv[1]), int(sys.argv[2]))
+  elif len(sys.argv) > 1:
+    can_printer(int(sys.argv[1]))
+  else:
+    can_printer()
+  

selfdrive/debug/dump.py

@@ -27,5 +27,5 @@ if __name__ == "__main__":
       if args.raw:
         hexdump(sock.recv())
       else:
-        print messaging.recv_sock(sock)
+        print messaging.recv_one(sock)
 

selfdrive/debug/getframes/getframes.py

@@ -42,26 +42,26 @@ typedef struct VisionStreamBufs {
   } buf_info;
 } VisionStreamBufs;
 
-typedef struct VisionBuf {
+typedef struct VIPCBuf {
   int fd;
   size_t len;
   void* addr;
-} VisionBuf;
+} VIPCBuf;
 
-typedef struct VisionBufExtra {
+typedef struct VIPCBufExtra {
   uint32_t frame_id; // only for yuv
-} VisionBufExtra;
+} VIPCBufExtra;
 
 typedef struct VisionStream {
   int ipc_fd;
   int last_idx;
   int num_bufs;
   VisionStreamBufs bufs_info;
-  VisionBuf *bufs;
+  VIPCBuf *bufs;
 } VisionStream;
 
 int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
-VisionBuf* visionstream_get(VisionStream *s, VisionBufExtra *out_extra);
+VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
 void visionstream_destroy(VisionStream *s);
 
 """

selfdrive/debug/test_carcontroller.py

@@ -28,6 +28,7 @@ if __name__ == "__main__":
   sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
 
   CI, CP = get_car(logcan, sendcan)
+  CC = car.CarControl.new_message()
 
   rk = Ratekeeper(100)
 
@@ -56,11 +57,11 @@ if __name__ == "__main__":
     print axis_values, button_values
     # **** handle car ****
 
-    CS = CI.update()
+    CS = CI.update(CC)
     #print CS
-
     CC = car.CarControl.new_message()
 
+
     CC.enabled = True
 
     CC.gas = float(np.clip(-axis_values[1], 0, 1.0))

selfdrive/debug/test_carstate.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 import os
 import zmq
+from cereal import car
 
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
@@ -36,8 +37,9 @@ def test_loop():
     "False"]
 
   while 1:
+    CC = car.CarControl.new_message()
     # read CAN
-    CS = CI.update()
+    CS = CI.update(CC)
 
     while eval(states[state]) == True:
       state += 1