mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-08-05 08:16:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

openpilot v0.8.13

Browse Source
This commit is contained in:
Vehicle Researcher
2022-02-23 16:37:05 -08:00
commit 8a784e5123
1598 changed files with 667664 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+85
View File
@@ -0,0 +1,85 @@
venv/
.env
.clang-format
.DS_Store
.tags
.ipynb_checkpoints
.idea
.overlay_init
.overlay_consistent
.sconsign.dblite
.vscode*
model2.png
a.out
.hypothesis
*.dylib
*.DSYM
*.d
*.pyc
*.pyo
.*.swp
.*.swo
.*.un~
*.tmp
*.o
*.o-*
*.os
*.os-*
*.so
*.a
*.clb
*.class
*.pyxbldc
*.vcd
config.json
clcache
compile_commands.json
persist
board/obj/
selfdrive/boardd/boardd
selfdrive/logcatd/logcatd
selfdrive/mapd/default_speeds_by_region.json
selfdrive/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/loggerd/loggerd
selfdrive/loggerd/bootlog
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
selfdrive/camerad/camerad
selfdrive/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
selfdrive/modeld/_dmonitoringmodeld
/src/
one
openpilot
notebooks
xx
yy
hyperthneed
panda_jungle
provisioning
.coverage*
coverage.xml
htmlcov
pandaextra
.mypy_cache/
flycheck_*
cppcheck_report.txt
comma*.sh
selfdrive/modeld/thneed/compile
models/*.thneed
*.bz2
build/
!**/.gitkeep
LICENSE
+7
View File
@@ -0,0 +1,7 @@
Copyright (c) 2018, Comma.ai, Inc.
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
README.md
Executable
+142
View File
@@ -0,0 +1,142 @@
![](https://i.imgur.com/b0ZyIx5.jpg)
Table of Contents
=======================
* [What is openpilot?](#what-is-openpilot)
* [Running in a car](#running-in-a-car)
* [Running on PC](#running-on-pc)
* [Community and Contributing](#community-and-contributing)
* [User Data and comma Account](#user-data-and-comma-account)
* [Safety and Testing](#safety-and-testing)
* [Directory Structure](#directory-structure)
* [Licensing](#licensing)
---
What is openpilot?
------
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
<table>
<tr>
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
<td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
<td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
</tr>
<tr>
<td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
<td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
<td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
<td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
</tr>
</table>
Running in a car
------
To use openpilot in a car, you need four things
* This software. It's free and available right here.
* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
Running on PC
------
All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
Community and Contributing
------
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
And [follow us on Twitter](https://twitter.com/comma_ai).
User Data and comma Account
------
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
Safety and Testing
----
* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
Directory Structure
------
.
├── cereal # The messaging spec and libs used for all logs
├── common # Library like functionality we've developed here
├── docs # Documentation
├── opendbc # Files showing how to interpret data from cars
├── panda # Code used to communicate on CAN
├── third_party # External libraries
├── pyextra # Extra python packages
└── selfdrive # Code needed to drive the car
├── assets # Fonts, images, and sounds for UI
├── athena # Allows communication with the app
├── boardd # Daemon to talk to the board
├── camerad # Driver to capture images from the camera sensors
├── car # Car specific code to read states and control actuators
├── common # Shared C/C++ code for the daemons
├── controls # Planning and controls
├── debug # Tools to help you debug and do car ports
├── locationd # Precise localization and vehicle parameter estimation
├── logcatd # Android logcat as a service
├── loggerd # Logger and uploader of car data
├── modeld # Driving and monitoring model runners
├── proclogd # Logs information from proc
├── sensord # IMU interface code
├── test # Unit tests, system tests, and a car simulator
└── ui # The UI
Licensing
------
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
NO WARRANTY EXPRESSED OR IMPLIED.**
---
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
RELEASES.md
+794
View File
@@ -0,0 +1,794 @@
Version 0.8.13 (2022-02-18)
========================
* Improved driver monitoring
* Retuned driver pose learner for relaxed driving positions
* Added reliance on driving model to be more scene adaptive
* Matched strictness between comma two and comma three
* Improved performance in turns by compensating for the road bank angle
* Improved camera focus on the comma two
* AGNOS 4
* ADB support
* improved cell auto configuration
* NEOS 19
* package updates
* stability improvements
* Subaru ECU firmware fingerprinting thanks to martinl!
* Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Mazda CX-5 2022 support thanks to Jafaral!
* Subaru Impreza 2020 support thanks to martinl!
* Toyota Avalon 2022 support thanks to sshane!
* Toyota Prius v 2017 support thanks to CT921!
* Volkswagen Caravelle 2020 support thanks to jyoung8607!
Version 0.8.12 (2021-12-15)
========================
* New driving model
* Improved behavior around exits
* Better pose accuracy at high speeds, allowing max speed of 90mph
* Fully incorporated comma three data into all parts of training stack
* Improved follow distance
* Better longitudinal policy, especially in low speed traffic
* New alert sounds
* AGNOS 3
* Display burn in mitigation
* Improved audio amplifier configuration
* System reliability improvements
* Update Python to 3.8.10
* Raw logs upload moved to connect.comma.ai
* Fixed HUD alerts on newer Honda Bosch thanks to csouers!
* Audi Q3 2020-21 support thanks to jyoung8607!
* Lexus RC 2020 support thanks to ErichMoraga!
Version 0.8.11 (2021-11-29)
========================
* Support for CAN FD on the red panda
* Support for an external panda on the comma three
* Navigation: Show more detailed instructions when approaching maneuver
* Fixed occasional steering faults on GM cars thanks to jyoung8607!
* Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
* Cadillac Escalade ESV 2016 support thanks to Gibby!
* Genesis G70 2020 support thanks to tecandrew!
* Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
* Mazda CX-9 2021 support thanks to Jacar!
* Volkswagen Polo 2020 support thanks to jyoung8607!
* Volkswagen T-Roc 2021 support thanks to jyoung8607!
Version 0.8.10 (2021-11-01)
========================
* New driving model
* Trained on one million minutes!!!
* Fixed lead training making lead predictions significantly more accurate
* Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
* New driver monitoring model
* Trained on latest data from both comma two and comma three
* Increased model field of view by 40% on comma three
* Improved model stability on masked users
* Improved pose prediction with reworked ground-truth stack
* Lateral and longitudinal planning MPCs now in ACADOS
* Combined longitudinal MPCs
* All longitudinal planning now happens in a single MPC system
* Fixed instability in MPC problem to prevent sporadic CPU usage
* AGNOS 2: minor stability improvements and builder repo open sourced
* tools: new and improved replay thanks to deanlee!
* Moved community-supported cars outside of the Community Features toggle
* Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
* Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
* Audi S3 2015 support thanks to jyoung8607!
* Honda Freed 2020 support thanks to belm0!
* Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
* Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
* Kia K5 2021 support thanks to sunnyhaibin!
* Škoda Kamiq 2021 support thanks to jyoung8607!
* Škoda Karoq 2019 support thanks to jyoung8607!
* Volkswagen Arteon 2021 support thanks to jyoung8607!
* Volkswagen California 2021 support thanks to jyoung8607!
* Volkswagen Taos 2022 support thanks to jyoung8607!
Version 0.8.9 (2021-09-14)
========================
* Improved fan control on comma three
* AGNOS 1.5: improved stability
* Honda e 2020 support
Version 0.8.8 (2021-08-27)
========================
* New driving model with improved laneless performance
* Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
* Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
* All new desire ground-truthing stack makes the model better at lane changes
* New driver monitoring model: improved performance on comma three
* NEOS 18 for comma two: update packages
* AGNOS 1.3 for comma three: fix display init at high temperatures
* Improved auto-exposure on comma three
* Improved longitudinal control on Honda Nidec cars
* Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
* Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
* Kia Niro Hybrid 2021 support thanks to tetious!
Version 0.8.7 (2021-07-31)
========================
* comma three support!
* Navigation alpha for the comma three!
* Volkswagen T-Cross 2021 support thanks to jyoung8607!
Version 0.8.6 (2021-07-21)
========================
* Revamp lateral and longitudinal planners
* Refactor planner output API to be more readable and verbose
* Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
* Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
* Remove "CHECK DRIVER FACE VISIBILITY" warning
* Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
* Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
* Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
* Kia Niro Hybrid 2019 support thanks to jyoung8607!
* Škoda Octavia RS 2016 support thanks to jyoung8607!
* Toyota Alphard 2020 support thanks to belm0!
* Volkswagen Golf SportWagen 2015 support thanks to jona96!
* Volkswagen Touran 2017 support thanks to jyoung8607!
Version 0.8.5 (2021-06-11)
========================
* NEOS update: improved reliability and stability with better voltage regulator configuration
* Smart model-based Forward Collision Warning
* CAN-based fingerprinting moved behind community features toggle
* Improved longitudinal control on Toyotas with a comma pedal
* Improved auto-brightness using road-facing camera
* Added "Software" settings page with updater controls
* Audi Q2 2018 support thanks to jyoung8607!
* Hyundai Elantra 2021 support thanks to CruiseBrantley!
* Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
* Toyota Avalon Hybrid 2019 support thanks to jbates9011!
* SEAT Leon 2017 & 2020 support thanks to jyoung8607!
* Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
Version 0.8.4 (2021-05-17)
========================
* Delay controls start until system is ready
* Fuzzy car identification, enabled with Community Features toggle
* Localizer optimized for increased precision and less CPU usage
* Retuned lateral control to be more aggressive when model is confident
* Toyota Mirai 2021 support
* Lexus NX 300 2020 support thanks to goesreallyfast!
* Volkswagen Atlas 2018-19 support thanks to jyoung8607!
Version 0.8.3 (2021-04-01)
========================
* New model
* Trained on new diverse dataset from 2000+ users from 30+ countries
* Trained with improved segnet from the comma-pencil community project
* 🥬 Dramatically improved end-to-end lateral performance 🥬
* Toggle added to disable the use of lanelines
* NEOS update: update packages and support for new UI
* New offroad UI based on Qt
* Default SSH key only used for setup
* Kia Ceed 2019 support thanks to ZanZaD13!
* Kia Seltos 2021 support thanks to speedking456!
* Added support for many Volkswagen and Škoda models thanks to jyoung8607!
Version 0.8.2 (2021-02-26)
========================
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
* Use model heading prediction for smoother lateral control
* Smarter actuator delay compensation
* Improve qcamera resolution for improved video in explorer and connect
* Adjust maximum engagement speed to better fit the model's training distribution
* New driver monitoring model trained with 3x more diverse data
* Improved face detection with masks
* More predictable DM alerts when visibility is bad
* Rewritten video streaming between openpilot processes
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
* Audi A3 2015 and 2017 support thanks to keeleysam!
* Nissan Altima 2020 support thanks to avolmensky!
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
* Toyota Camry Hybrid 2021 support thanks to alancyau!
Version 0.8.1 (2020-12-21)
========================
* Original EON is deprecated, upgrade to comma two
* Better model performance in heavy rain
* Better lane positioning in turns
* Fixed bug where model would cut turns on empty roads at night
* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
* Toyota Camry 2021 with TSS2.5 support
* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
Version 0.8.0 (2020-11-30)
========================
* New driving model: fully 3D and improved cut-in detection
* UI draws 2 road edges, 4 lanelines and paths in 3D
* Major fixes to cut-in detection for openpilot longitudinal
* Grey panda is no longer supported, upgrade to comma two or black panda
* Lexus NX 2018 support thanks to matt12eagles!
* Kia Niro EV 2020 support thanks to nickn17!
* Toyota Prius 2021 support thanks to rav4kumar!
* Improved lane positioning with uncertain lanelines, wide lanes and exits
* Improved lateral control for Prius and Subaru
Version 0.7.10 (2020-10-29)
========================
* Grey panda is deprecated, upgrade to comma two or black panda
* NEOS update: update to Python 3.8.2 and lower CPU frequency
* Improved thermals due to reduced CPU frequency
* Update SNPE to 1.41.0
* Reduced offroad power consumption
* Various system stability improvements
* Acura RDX 2020 support thanks to csouers!
Version 0.7.9 (2020-10-09)
========================
* Improved car battery power management
* Improved updater robustness
* Improved realtime performance
* Reduced UI and modeld lags
* Increased torque on 2020 Hyundai Sonata and Palisade
Version 0.7.8 (2020-08-19)
========================
* New driver monitoring model: improved face detection and better compatibility with sunglasses
* Download NEOS operating system updates in the background
* Improved updater reliability and responsiveness
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
Version 0.7.7 (2020-07-20)
========================
* White panda is no longer supported, upgrade to comma two or black panda
* Improved vehicle model estimation using high precision localizer
* Improved thermal management on comma two
* Improved autofocus for road-facing camera
* Improved noise performance for driver-facing camera
* Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
* Fix GM ignition detection
* Code cleanup and smaller release sizes
* Hyundai Sonata 2020 promoted to officially supported car
* Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
* Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
Version 0.7.6.1 (2020-06-16)
========================
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
Version 0.7.6 (2020-06-05)
========================
* White panda is deprecated, upgrade to comma two or black panda
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
* Huge CPU savings in modeld by using thneed!
* Lots of code cleanup and refactors
Version 0.7.5 (2020-05-13)
========================
* Right-Hand Drive support for both driving and driver monitoring!
* New driving model: improved at sharp turns and lead speed estimation
* New driver monitoring model: overall improvement on comma two
* Driver camera preview in settings to improve mounting position
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
Version 0.7.4 (2020-03-20)
========================
* New driving model: improved lane changes and lead car detection
* Improved driver monitoring model: improve eye detection
* Improved calibration stability
* Improved lateral control on some 2019 and 2020 Toyota Prius
* Improved lateral control on VW Golf: 20% more steering torque
* Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
* Support for Honda Insight thanks to theantihero!
* Code cleanup in car abstraction layers and ui
Version 0.7.3 (2020-02-21)
========================
* Support for 2020 Highlander thanks to che220!
* Support for 2018 Lexus NX 300h thanks to kengggg!
* Speed up ECU firmware query
* Fix bug where manager would sometimes hang after shutting down the car
Version 0.7.2 (2020-02-07)
========================
* ECU firmware version based fingerprinting for Honda & Toyota
* New driving model: improved path prediction during turns and lane changes and better lead speed tracking
* Improve driver monitoring under extreme lighting and add low accuracy alert
* Support for 2019 Rav4 Hybrid thanks to illumiN8i!
* Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
* Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
Version 0.7.1 (2020-01-20)
========================
* comma two support!
* Lane Change Assist above 45 mph!
* Replace zmq with custom messaging library, msgq!
* Supercombo model: calibration and driving models are combined for better lead estimate
* More robust updater thanks to jyoung8607! Requires NEOS update
* Improve low speed ACC tuning
Version 0.7 (2019-12-13)
========================
* Move to SCons build system!
* Add Lane Departure Warning (LDW) for all supported vehicles!
* NEOS update: increase wifi speed thanks to jyoung8607!
* Adaptive driver monitoring based on scene
* New driving model trained end-to-end: improve lane lines and lead detection
* Smarter torque limit alerts for all cars
* Improve GM longitudinal control: proper computations for 15Hz radar
* Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
* Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
* Refactor Panda code towards ISO26262 and SIL2 compliancy
* Forward stock FCW for Honda Nidec
* Volkswagen port now standard: comma Harness intercepts stock camera
Version 0.6.6 (2019-11-05)
========================
* Volkswagen support thanks to jyoung8607!
* Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
* Lexus ES with TSS 2.0 support thanks to energee!
* Fix GM ignition detection and lock safety mode not required anymore
* Log panda firmware and dongle ID thanks to martinl!
* New driving model: improve path prediction and lead detection
* New driver monitoring model, 4x smaller and running on DSP
* Display an alert and don't start openpilot if panda has wrong firmware
* Fix bug preventing EON from terminating processes after a drive
* Remove support for Toyota giraffe without the 120Ohm resistor
Version 0.6.5 (2019-10-07)
========================
* NEOS update: upgrade to Python3 and new installer!
* comma Harness support!
* New driving model: improve path prediction
* New driver monitoring model: more accurate face and eye detection
* Redesign offroad screen to display updates and alerts
* Increase maximum allowed acceleration
* Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
* Lexus CT Hybrid support thanks to thomaspich!
* Louder chime for critical alerts
* Add toggle to switch to dashcam mode
* Fix "invalid vehicle params" error on DSU-less Toyota
Version 0.6.4 (2019-09-08)
========================
* Forward stock AEB for Honda Nidec
* Improve lane centering on banked roads
* Always-on forward collision warning
* Always-on driver monitoring, except for right hand drive countries
* Driver monitoring learns the user's normal driving position
* Honda Fit support thanks to energee!
* Lexus IS support
Version 0.6.3 (2019-08-12)
========================
* Alert sounds from EON: requires NEOS update
* Improve driver monitoring: eye tracking and improved awareness logic
* Improve path prediction with new driving model
* Improve lane positioning with wide lanes and exits
* Improve lateral control on RAV4
* Slow down for turns using model
* Open sourced regression test to verify outputs against reference logs
* Open sourced regression test to sanity check all car models
Version 0.6.2 (2019-07-29)
========================
* New driving model!
* Improve lane tracking with double lines
* Strongly improve stationary vehicle detection
* Strongly reduce cases of braking due to false leads
* Better lead tracking around turns
* Improve cut-in prediction by using neural network
* Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
* Fix unintended openpilot disengagements on Jeep thanks to adhintz!
* Fix delayed transition to offroad when car is turned off
Version 0.6.1 (2019-07-21)
========================
* Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
* Panda code Misra-c2012 compliance, tested against cppcheck coverage
* Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
* Toyota Sienna support thanks to wocsor!
Version 0.6 (2019-07-01)
========================
* New model, with double the pixels and ten times the temporal context!
* Car should not take exits when in the right lane
* openpilot uses only ~65% of the CPU (down from 75%)
* Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
* loggerd and sensord are open source, every line of openpilot is now open
* Panda safety code is MISRA compliant and ships with a signed version on release2
* New NEOS is 500MB smaller and has a reproducible usr/pipenv
* Lexus ES Hybrid support thanks to wocsor!
* Improve tuning for supported Toyota with TSS 2.0
* Various other stability improvements
Version 0.5.13 (2019-05-31)
==========================
* Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
* Reduce EON power consumption by 40%, down to 1100mW, when car is off
* Reduce CPU utilization by 20% and improve stability
* Temporarily remove mapd functionalities to improve stability
* Add openpilot record-only mode for unsupported cars
* Synchronize controlsd to boardd to reduce latency
* Remove panda support for Subaru giraffe
Version 0.5.12 (2019-05-16)
==========================
* Improve lateral control for the Prius and Prius Prime
* Compress logs before writing to disk
* Remove old driving data when storage reaches 90% full
* Fix small offset in following distance
* Various small CPU optimizations
* Improve offroad power consumption: require NEOS Update
* Add default speed limits for Estonia thanks to martinl!
* Subaru Crosstrek support thanks to martinl!
* Toyota Avalon support thanks to njbrown09!
* Toyota Rav4 with TSS 2.0 support thanks to wocsor!
* Toyota Corolla with TSS 2.0 support thanks to wocsor!
Version 0.5.11 (2019-04-17)
========================
* Add support for Subaru
* Reduce panda power consumption by 60% when car is off
* Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
* Fix bug in controls with new angle-offset learner in MPC
* Reduce cpu consumption of ubloxd by rewriting it in C++
* Improve driver monitoring model and face detection
* Improve performance of visiond and ui
* Honda Passport 2019 support
* Lexus RX Hybrid 2019 support thanks to schomems!
* Improve road selection heuristic in mapd
* Add Lane Departure Warning to dashboard for Toyota thanks to arne182
Version 0.5.10 (2019-03-19)
========================
* Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
* Improve longitudinal control at low speed when lead vehicle harshly decelerates
* Fix panda bug going unexpectedly in DCP mode when EON is connected
* Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
* New Driver Monitoring Model
* Support QR codes for login using comma connect
* Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
* Additional speed limit rules for Germany thanks to arne182
* Allow negative speed limit offsets
Version 0.5.9 (2019-02-10)
========================
* Improve calibration using a dedicated neural network
* Abstract planner in its own process to remove lags in controls process
* Improve speed limits with country/region defaults by road type
* Reduce mapd data usage with gzip thanks to eFiniLan
* Zip log files in the background to reduce disk usage
* Kia Optima support thanks to emmertex!
* Buick Regal 2018 support thanks to HOYS!
* Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
* Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
Version 0.5.8 (2019-01-17)
========================
* Open sourced visiond
* Auto-slowdown for upcoming turns
* Chrysler/Jeep/Fiat support thanks to adhintz!
* Honda Civic 2019 support thanks to csouers!
* Improve use of car display in Toyota thanks to arne182!
* No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
* EON stops charging when 12V battery drops below 11.8V
Version 0.5.7 (2018-12-06)
========================
* Speed limit from OpenStreetMap added to UI
* Highlight speed limit when speed exceeds road speed limit plus a delta
* Option to limit openpilot max speed to road speed limit plus a delta
* Cadillac ATS support thanks to vntarasov!
* GMC Acadia support thanks to CryptoKylan!
* Decrease GPU power consumption
* NEOSv8 autoupdate
Version 0.5.6 (2018-11-16)
========================
* Refresh settings layout and add feature descriptions
* In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
* In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
* Improve camera calibration stability
* More tuning to Honda positive accelerations
* Reduce brake pump use on Hondas
* Chevrolet Malibu support thanks to tylergets!
* Holden Astra support thanks to AlexHill!
Version 0.5.5 (2018-10-20)
========================
* Increase allowed Honda positive accelerations
* Fix sporadic unexpected braking when passing semi-trucks in Toyota
* Fix gear reading bug in Hyundai Elantra thanks to emmertex!
Version 0.5.4 (2018-09-25)
========================
* New Driving Model
* New Driver Monitoring Model
* Improve longitudinal mpc in mid-low speed braking
* Honda Accord hybrid support thanks to energee!
* Ship mpc binaries and sensibly reduce build time
* Calibration more stable
* More Hyundai and Kia cars supported thanks to emmertex!
* Various GM Volt improvements thanks to vntarasov!
Version 0.5.3 (2018-09-03)
========================
* Hyundai Santa Fe support!
* Honda Pilot 2019 support thanks to energee!
* Toyota Highlander support thanks to daehahn!
* Improve steering tuning for Honda Odyssey
Version 0.5.2 (2018-08-16)
========================
* New calibration: more accurate, a lot faster, open source!
* Enable orbd
* Add little endian support to CAN packer
* Fix fingerprint for Honda Accord 1.5T
* Improve driver monitoring model
Version 0.5.1 (2018-08-01)
========================
* Fix radar error on Civic sedan 2018
* Improve thermal management logic
* Alpha Toyota C-HR and Camry support!
* Auto-switch Driver Monitoring to 3 min counter when inaccurate
Version 0.5 (2018-07-11)
========================
* Driver Monitoring (beta) option in settings!
* Make visiond, loggerd and UI use less resources
* 60 FPS UI
* Better car parameters for most cars
* New sidebar with stats
* Remove Waze and Spotify to free up system resources
* Remove rear view mirror option
* Calibration 3x faster
Version 0.4.7.2 (2018-06-25)
==========================
* Fix loggerd lag issue
* No longer prompt for updates
* Mitigate right lane hugging for properly mounted EON (procedure on wiki)
Version 0.4.7.1 (2018-06-18)
==========================
* Fix Acura ILX steer faults
* Fix bug in mock car
Version 0.4.7 (2018-06-15)
==========================
* New model!
* GM Volt (and CT6 lateral) support!
* Honda Bosch lateral support!
* Improve actuator modeling to reduce lateral wobble
* Minor refactor of car abstraction layer
* Hack around orbd startup issue
Version 0.4.6 (2018-05-18)
==========================
* NEOSv6 required! Will autoupdate
* Stability improvements
* Fix all memory leaks
* Update C++ compiler to clang6
* Improve front camera exposure
Version 0.4.5 (2018-04-27)
==========================
* Release notes added to the update popup
* Improve auto shut-off logic to disallow empty battery
* Added onboarding instructions
* Include orbd, the first piece of new calibration algorithm
* Show remaining upload data instead of file numbers
* Fix UI bugs
* Fix memory leaks
Version 0.4.4 (2018-04-13)
==========================
* EON are flipped! Flip your EON's mount!
* Alpha Honda Ridgeline support thanks to energee!
* Support optional front camera recording
* Upload over cellular toggle now applies to all files, not just video
* Increase acceleration when closing lead gap
* User now prompted for future updates
* NEO no longer supported :(
Version 0.4.3.2 (2018-03-29)
============================
* Improve autofocus
* Improve driving when only one lane line is detected
* Added fingerprint for Toyota Corolla LE
* Fixed Toyota Corolla steer error
* Full-screen driving UI
* Improved path drawing
Version 0.4.3.1 (2018-03-19)
============================
* Improve autofocus
* Add check for MPC solution error
* Make first distracted warning visual only
Version 0.4.3 (2018-03-13)
==========================
* Add HDR and autofocus
* Update UI aesthetic
* Grey panda works in Waze
* Add alpha support for 2017 Honda Pilot
* Slight increase in acceleration response from stop
* Switch CAN sending to use CANPacker
* Fix pulsing acceleration regression on Honda
* Fix openpilot bugs when stock system is in use
* Change starting logic for chffrplus to use battery voltage
Version 0.4.2 (2018-02-05)
==========================
* Add alpha support for 2017 Lexus RX Hybrid
* Add alpha support for 2018 ACURA RDX
* Updated fingerprint to include Toyota Rav4 SE and Prius Prime
* Bugfixes for Acura ILX and Honda Odyssey
Version 0.4.1 (2018-01-30)
==========================
* Add alpha support for 2017 Toyota Corolla
* Add alpha support for 2018 Honda Odyssey with Honda Sensing
* Add alpha support for Grey Panda
* Refactored car abstraction layer to make car ports easier
* Increased steering torque limit on Honda CR-V by 30%
Version 0.4.0.2 (2018-01-18)
==========================
* Add focus adjustment slider
* Minor bugfixes
Version 0.4.0.1 (2017-12-21)
==========================
* New UI to match chffrplus
* Improved lateral control tuning to fix oscillations on Civic
* Add alpha support for 2017 Toyota Rav4 Hybrid
* Reduced CPU usage
* Removed unnecessary utilization of fan at max speed
* Minor bug fixes
Version 0.3.9 (2017-11-21)
==========================
* Add alpha support for 2017 Toyota Prius
* Improved longitudinal control using model predictive control
* Enable Forward Collision Warning
* Acura ILX now maintains openpilot engaged at standstill when brakes are applied
Version 0.3.8.2 (2017-10-30)
==========================
* Add alpha support for 2017 Toyota RAV4
* Smoother lateral control
* Stay silent if stock system is connected through giraffe
* Minor bug fixes
Version 0.3.7 (2017-09-30)
==========================
* Improved lateral control using model predictive control
* Improved lane centering
* Improved GPS
* Reduced tendency of path deviation near right side exits
* Enable engagement while the accelerator pedal is pressed
* Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
* Disable engagement when park brake or brake hold are active
* Fixed sporadic longitudinal pulsing in Civic
* Cleanups to vehicle interface
Version 0.3.6.1 (2017-08-15)
============================
* Mitigate low speed steering oscillations on some vehicles
* Include board steering check for CR-V
Version 0.3.6 (2017-08-08)
==========================
* Fix alpha CR-V support
* Improved GPS
* Fix display of target speed not always matching HUD
* Increased acceleration after stop
* Mitigated some vehicles driving too close to the right line
Version 0.3.5 (2017-07-30)
==========================
* Fix bug where new devices would not begin calibration
* Minor robustness improvements
Version 0.3.4 (2017-07-28)
==========================
* Improved model trained on more data
* Much improved controls tuning
* Performance improvements
* Bugfixes and improvements to calibration
* Driving log can play back video
* Acura only: system now stays engaged below 25mph as long as brakes are applied
Version 0.3.3 (2017-06-28)
===========================
* Improved model trained on more data
* Alpha CR-V support thanks to energee and johnnwvs!
* Using the opendbc project for DBC files
* Minor performance improvements
* UI update thanks to pjlao307
* Power off button
* 6% more torque on the Civic
Version 0.3.2 (2017-05-22)
===========================
* Minor stability bugfixes
* Added metrics and rear view mirror disable to settings
* Update model with more crowdsourced data
Version 0.3.1 (2017-05-17)
===========================
* visiond stability bugfix
* Add logging for angle and flashing
Version 0.3.0 (2017-05-12)
===========================
* Add CarParams struct to improve the abstraction layer
* Refactor visiond IPC to support multiple clients
* Add raw GPS and beginning support for navigation
* Improve model in visiond using crowdsourced data
* Add improved system logging to diagnose instability
* Rewrite baseui in React Native
* Moved calibration to the cloud
Version 0.2.9 (2017-03-01)
===========================
* Retain compatibility with NEOS v1
Version 0.2.8 (2017-02-27)
===========================
* Fix bug where frames were being dropped in minute 71
Version 0.2.7 (2017-02-08)
===========================
* Better performance and pictures at night
* Fix ptr alignment issue in boardd
* Fix brake error light, fix crash if too cold
Version 0.2.6 (2017-01-31)
===========================
* Fix bug in visiond model execution
Version 0.2.5 (2017-01-30)
===========================
* Fix race condition in manager
Version 0.2.4 (2017-01-27)
===========================
* OnePlus 3T support
* Enable installation as NEOS app
* Various minor bugfixes
Version 0.2.3 (2017-01-11)
===========================
* Reduce space usage by 80%
* Add better logging
* Add Travis CI
Version 0.2.2 (2017-01-10)
===========================
* Board triggers started signal on CAN messages
* Improved autoexposure
* Handle out of space, improve upload status
Version 0.2.1 (2016-12-14)
===========================
* Performance improvements, removal of more numpy
* Fix boardd process priority
* Make counter timer reset on use of steering wheel
Version 0.2 (2016-12-12)
=========================
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
* controlsd has been refactored
* Shipped plant model and testing maneuvers
* visiond exits more gracefully now
* Hardware encoder in visiond should always init
* ui now turns off the screen after 30 seconds
* Switch to openpilot release branch for future releases
* Added preliminary Docker container to run tests on PC
Version 0.1 (2016-11-29)
=========================
* Initial release of openpilot
* Adaptive cruise control is working
* Lane keep assist is working
* Support for Acura ILX 2016 with AcuraWatch Plus
* Support for Honda Civic 2016 Touring Edition
SConstruct
+445
View File
@@ -0,0 +1,445 @@
import os
import shutil
import subprocess
import sys
import sysconfig
import platform
import numpy as np
TICI = os.path.isfile('/TICI')
Decider('MD5-timestamp')
AddOption('--test',
action='store_true',
help='build test files')
AddOption('--extras',
action='store_true',
help='build misc extras, like setup and installer files')
AddOption('--kaitai',
action='store_true',
help='Regenerate kaitai struct parsers')
AddOption('--asan',
action='store_true',
help='turn on ASAN')
AddOption('--ubsan',
action='store_true',
help='turn on UBSan')
AddOption('--clazy',
action='store_true',
help='build with clazy')
AddOption('--compile_db',
action='store_true',
help='build clang compilation database')
AddOption('--snpe',
action='store_true',
help='use SNPE on PC')
AddOption('--external-sconscript',
action='store',
metavar='FILE',
dest='external_sconscript',
help='add an external SConscript to the build')
AddOption('--no-thneed',
action='store_true',
dest='no_thneed',
help='avoid using thneed')
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
if arch == "aarch64" and TICI:
arch = "larch64"
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
lenv = {
"PATH": os.environ['PATH'],
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
"PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
}
rpath = lenv["LD_LIBRARY_PATH"].copy()
if arch == "aarch64" or arch == "larch64":
lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
if arch == "aarch64":
# android
lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
cpppath = [
"#third_party/opencl/include",
]
libpath = [
"/usr/local/lib",
"/usr/lib",
"/system/vendor/lib64",
"/system/comma/usr/lib",
f"#third_party/acados/{arch}/lib",
]
if arch == "larch64":
libpath += [
"#third_party/snpe/larch64",
"#third_party/libyuv/larch64/lib",
"/usr/lib/aarch64-linux-gnu"
]
cpppath += [
"#selfdrive/camerad/include",
]
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
rpath += ["/usr/local/lib"]
else:
rpath = []
libpath += [
"#third_party/snpe/aarch64",
"#third_party/libyuv/lib",
"/system/vendor/lib64"
]
cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
else:
cflags = []
cxxflags = []
cpppath = []
if arch == "Darwin":
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
libpath = [
f"#third_party/libyuv/{yuv_dir}/lib",
"/usr/local/lib",
"/opt/homebrew/lib",
"/usr/local/Homebrew/Library",
"/usr/local/opt/openssl/lib",
"/opt/homebrew/opt/openssl/lib",
"/usr/local/Cellar",
f"#third_party/acados/{arch}/lib",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
]
cflags += ["-DGL_SILENCE_DEPRECATION"]
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
cpppath += [
"/opt/homebrew/include",
"/usr/local/include",
"/usr/local/opt/openssl/include",
"/opt/homebrew/opt/openssl/include"
]
else:
libpath = [
"#third_party/acados/x86_64/lib",
"#third_party/snpe/x86_64-linux-clang",
"#third_party/libyuv/x64/lib",
"#third_party/mapbox-gl-native-qt/x86_64",
"#cereal",
"#selfdrive/common",
"/usr/lib",
"/usr/local/lib",
]
rpath += [
Dir("#third_party/snpe/x86_64-linux-clang").abspath,
Dir("#cereal").abspath,
Dir("#selfdrive/common").abspath
]
if GetOption('asan'):
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
ldflags = ["-fsanitize=address"]
elif GetOption('ubsan'):
ccflags = ["-fsanitize=undefined"]
ldflags = ["-fsanitize=undefined"]
else:
ccflags = []
ldflags = []
# no --as-needed on mac linker
if arch != "Darwin":
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
# Enable swaglog include in submodules
cflags += ["-DSWAGLOG"]
cxxflags += ["-DSWAGLOG"]
env = Environment(
ENV=lenv,
CCFLAGS=[
"-g",
"-fPIC",
"-O2",
"-Wunused",
"-Werror",
"-Wshadow",
"-Wno-unknown-warning-option",
"-Wno-deprecated-register",
"-Wno-register",
"-Wno-inconsistent-missing-override",
"-Wno-c99-designator",
"-Wno-reorder-init-list",
"-Wno-error=unused-but-set-variable",
] + cflags + ccflags,
CPPPATH=cpppath + [
"#",
"#third_party/acados/include",
"#third_party/acados/include/blasfeo/include",
"#third_party/acados/include/hpipm/include",
"#third_party/catch2/include",
"#third_party/bzip2",
"#third_party/libyuv/include",
"#third_party/openmax/include",
"#third_party/json11",
"#third_party/curl/include",
"#third_party/libgralloc/include",
"#third_party/android_frameworks_native/include",
"#third_party/android_hardware_libhardware/include",
"#third_party/android_system_core/include",
"#third_party/linux/include",
"#third_party/snpe/include",
"#third_party/mapbox-gl-native-qt/include",
"#third_party/qrcode",
"#third_party",
"#cereal",
"#opendbc/can",
],
CC='clang',
CXX='clang++',
LINKFLAGS=ldflags,
RPATH=rpath,
CFLAGS=["-std=gnu11"] + cflags,
CXXFLAGS=["-std=c++1z"] + cxxflags,
LIBPATH=libpath + [
"#cereal",
"#third_party",
"#opendbc/can",
"#selfdrive/boardd",
"#selfdrive/common",
],
CYTHONCFILESUFFIX=".cpp",
COMPILATIONDB_USE_ABSPATH=True,
tools=["default", "cython", "compilation_db"],
)
if arch == "Darwin":
env['RPATHPREFIX'] = "-rpath "
if GetOption('compile_db'):
env.CompilationDatabase('compile_commands.json')
# Setup cache dir
cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
CacheDir(cache_dir)
Clean(["."], cache_dir)
node_interval = 5
node_count = 0
def progress_function(node):
global node_count
node_count += node_interval
sys.stderr.write("progress: %d\n" % node_count)
if os.environ.get('SCONS_PROGRESS'):
Progress(progress_function, interval=node_interval)
SHARED = False
def abspath(x):
if arch == 'aarch64':
pth = os.path.join("/data/pythonpath", x[0].path)
env.Depends(pth, x)
return File(pth)
else:
# rpath works elsewhere
return x[0].path.rsplit("/", 1)[1][:-3]
# Cython build enviroment
py_include = sysconfig.get_paths()['include']
envCython = env.Clone()
envCython["CPPPATH"] += [py_include, np.get_include()]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
envCython["LIBS"] = []
if arch == "Darwin":
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
elif arch == "aarch64":
envCython["LINKFLAGS"] = ["-shared"]
envCython["LIBS"] = [os.path.basename(py_include)]
else:
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
Export('envCython')
# Qt build environment
qt_env = env.Clone()
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
if arch != "aarch64":
qt_modules += ["DBus"]
qt_libs = []
if arch == "Darwin":
if real_arch == "arm64":
qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
else:
qt_env['QTDIR'] = "/usr/local/opt/qt@5"
qt_dirs = [
os.path.join(qt_env['QTDIR'], "include"),
]
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
elif arch == "aarch64":
qt_env['QTDIR'] = "/system/comma/usr"
qt_dirs = [
f"/system/comma/usr/include/qt",
]
qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
qt_libs = [f"Qt5{m}" for m in qt_modules]
qt_libs += ['EGL', 'GLESv3', 'c++_shared']
else:
qt_env['QTDIR'] = "/usr"
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
]
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
qt_libs = [f"Qt5{m}" for m in qt_modules]
if arch == "larch64":
qt_libs += ["GLESv2", "wayland-client"]
elif arch != "Darwin":
qt_libs += ["GL"]
qt_env.Tool('qt')
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
qt_flags = [
"-D_REENTRANT",
"-DQT_NO_DEBUG",
"-DQT_WIDGETS_LIB",
"-DQT_GUI_LIB",
"-DQT_QUICK_LIB",
"-DQT_QUICKWIDGETS_LIB",
"-DQT_QML_LIB",
"-DQT_CORE_LIB",
"-DQT_MESSAGELOGCONTEXT",
]
qt_env['CXXFLAGS'] += qt_flags
qt_env['LIBPATH'] += ['#selfdrive/ui']
qt_env['LIBS'] = qt_libs
if GetOption("clazy"):
checks = [
"level0",
"level1",
"no-range-loop",
"no-non-pod-global-static",
]
qt_env['CXX'] = 'clazy'
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
SConscript(['selfdrive/common/SConscript'])
Import('_common', '_gpucommon', '_gpu_libs')
if SHARED:
common, gpucommon = abspath(common), abspath(gpucommon)
else:
common = [_common, 'json11']
gpucommon = [_gpucommon] + _gpu_libs
Export('common', 'gpucommon')
# cereal and messaging are shared with the system
SConscript(['cereal/SConscript'])
if SHARED:
cereal = abspath([File('cereal/libcereal_shared.so')])
messaging = abspath([File('cereal/libmessaging_shared.so')])
else:
cereal = [File('#cereal/libcereal.a')]
messaging = [File('#cereal/libmessaging.a')]
visionipc = [File('#cereal/libvisionipc.a')]
Export('cereal', 'messaging', 'visionipc')
# Build rednose library and ekf models
rednose_config = {
'generated_folder': '#selfdrive/locationd/models/generated',
'to_build': {
'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
},
}
if arch not in ["aarch64", "larch64"]:
rednose_config['to_build'].update({
'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
})
Export('rednose_config')
SConscript(['rednose/SConscript'])
# Build openpilot
SConscript(['cereal/SConscript'])
SConscript(['panda/board/SConscript'])
SConscript(['opendbc/can/SConscript'])
SConscript(['third_party/SConscript'])
SConscript(['common/SConscript'])
SConscript(['common/kalman/SConscript'])
SConscript(['common/transformations/SConscript'])
SConscript(['selfdrive/camerad/SConscript'])
SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/proclogd/SConscript'])
SConscript(['selfdrive/clocksd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
if arch != "Darwin":
SConscript(['selfdrive/logcatd/SConscript'])
if GetOption('test'):
SConscript('panda/tests/safety/SConscript')
external_sconscript = GetOption('external_sconscript')
if external_sconscript:
SConscript([external_sconscript])
cereal/.gitignore
+21
View File
@@ -0,0 +1,21 @@
gen
node_modules
package-lock.json
*.tmp
*.pyc
__pycache__
.*.swp
.*.swo
*.os
*.o
*.a
test_runner
libmessaging.*
libmessaging_shared.*
services.h
.sconsign.dblite
libcereal_shared.*
.mypy_cache/
catch2/
cereal/SConscript
+72
View File
@@ -0,0 +1,72 @@
Import('env', 'envCython', 'arch', 'common')
import shutil
cereal_dir = Dir('.')
gen_dir = Dir('gen')
messaging_dir = Dir('messaging')
# Build cereal
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
schema_files,
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
# TODO: remove non shared cereal and messaging
cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
env.Library('cereal', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects)
# Build messaging
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
messaging_objects = env.SharedObject([
'messaging/messaging.cc',
'messaging/impl_zmq.cc',
'messaging/impl_msgq.cc',
'messaging/msgq.cc',
'messaging/socketmaster.cc',
])
messaging_lib = env.Library('messaging', messaging_objects)
Depends('messaging/impl_zmq.cc', services_h)
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
Depends('messaging/bridge.cc', services_h)
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
# Build Vision IPC
vipc_sources = [
'visionipc/ipc.cc',
'visionipc/visionipc_server.cc',
'visionipc/visionipc_client.cc',
'visionipc/visionbuf.cc',
]
if arch in ["aarch64", "larch64"]:
vipc_sources += ['visionipc/visionbuf_ion.cc']
else:
vipc_sources += ['visionipc/visionbuf_cl.cc']
vipc_objects = env.SharedObject(vipc_sources)
vipc = env.Library('visionipc', vipc_objects)
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
if arch == "aarch64":
libs += ["adreno_utils"]
if arch == "Darwin":
del libs[libs.index('OpenCL')]
envCython['FRAMEWORKS'] += ['OpenCL']
envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
if GetOption('test'):
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])
cereal/__init__.py
+9
View File
@@ -0,0 +1,9 @@
# pylint: skip-file
import os
import capnp
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
capnp.remove_import_hook()
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
cereal/car.capnp
+609
View File
@@ -0,0 +1,609 @@
using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0x8e2af1e708af8b8d;
# ******* events causing controls state machine transition *******
struct CarEvent @0x9b1657f34caf3ad3 {
name @0 :EventName;
# event types
enable @1 :Bool;
noEntry @2 :Bool;
warning @3 :Bool; # alerts presented only when enabled or soft disabling
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
preEnable @7 :Bool;
permanent @8 :Bool; # alerts presented regardless of openpilot state
enum EventName @0xbaa8c5d505f727de {
canError @0;
steerUnavailable @1;
brakeUnavailable @2;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
espDisabled @7;
wrongCarMode @8;
steerTempUnavailable @9;
reverseGear @10;
buttonCancel @11;
buttonEnable @12;
pedalPressed @13;
cruiseDisabled @14;
speedTooLow @17;
outOfSpace @18;
overheat @19;
calibrationIncomplete @20;
calibrationInvalid @21;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
noTarget @25;
radarFault @26;
brakeHold @28;
parkBrake @29;
manualRestart @30;
lowSpeedLockout @31;
plannerError @32;
joystickDebug @34;
steerTempUnavailableSilent @35;
resumeRequired @36;
preDriverDistracted @37;
promptDriverDistracted @38;
driverDistracted @39;
preDriverUnresponsive @43;
promptDriverUnresponsive @44;
driverUnresponsive @45;
belowSteerSpeed @46;
lowBattery @48;
vehicleModelInvalid @50;
accFaulted @51;
sensorDataInvalid @52;
commIssue @53;
tooDistracted @54;
posenetInvalid @55;
soundsUnavailable @56;
preLaneChangeLeft @57;
preLaneChangeRight @58;
laneChange @59;
lowMemory @63;
stockAeb @64;
ldw @65;
carUnrecognized @66;
invalidLkasSetting @69;
speedTooHigh @70;
laneChangeBlocked @71;
relayMalfunction @72;
gasPressed @73;
stockFcw @74;
startup @75;
startupNoCar @76;
startupNoControl @77;
startupMaster @78;
startupNoFw @104;
fcw @79;
steerSaturated @80;
belowEngageSpeed @84;
noGps @85;
wrongCruiseMode @87;
modeldLagging @89;
deviceFalling @90;
fanMalfunction @91;
cameraMalfunction @92;
gpsMalfunction @94;
processNotRunning @95;
dashcamMode @96;
controlsInitializing @98;
usbError @99;
roadCameraError @100;
driverCameraError @101;
wideRoadCameraError @102;
localizerMalfunction @103;
highCpuUsage @105;
cruiseMismatch @106;
lkasDisabled @107;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
radarCommIssueDEPRECATED @67;
driverMonitorLowAccDEPRECATED @68;
gasUnavailableDEPRECATED @3;
dataNeededDEPRECATED @16;
modelCommIssueDEPRECATED @27;
ipasOverrideDEPRECATED @33;
geofenceDEPRECATED @40;
driverMonitorOnDEPRECATED @41;
driverMonitorOffDEPRECATED @42;
calibrationProgressDEPRECATED @47;
invalidGiraffeHondaDEPRECATED @49;
invalidGiraffeToyotaDEPRECATED @60;
internetConnectivityNeededDEPRECATED @61;
whitePandaUnsupportedDEPRECATED @81;
commIssueWarningDEPRECATED @83;
focusRecoverActiveDEPRECATED @86;
neosUpdateRequiredDEPRECATED @88;
modelLagWarningDEPRECATED @93;
startupOneplusDEPRECATED @82;
startupFuzzyFingerprintDEPRECATED @97;
}
}
# ******* main car state @ 100hz *******
# all speeds in m/s
struct CarState {
events @13 :List(CarEvent);
# car speed
vEgo @1 :Float32; # best estimate of speed
aEgo @16 :Float32; # best estimate of acceleration
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
yawRate @22 :Float32; # best estimate of yaw rate
standstill @18 :Bool;
wheelSpeeds @2 :WheelSpeeds;
# gas pedal, 0.0-1.0
gas @3 :Float32; # this is user pedal only
gasPressed @4 :Bool; # this is user pedal only
# brake pedal, 0.0-1.0
brake @5 :Float32; # this is user pedal only
brakePressed @6 :Bool; # this is user pedal only
brakeHoldActive @38 :Bool;
# steering wheel
steeringAngleDeg @7 :Float32;
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
steeringRateDeg @15 :Float32;
steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units
steeringPressed @9 :Bool; # if the user is using the steering wheel
steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
steerWarning @35 :Bool; # temporary steer unavailble
steerError @36 :Bool; # permanent steer error
stockAeb @30 :Bool;
stockFcw @31 :Bool;
espDisabled @32 :Bool;
# cruise state
cruiseState @10 :CruiseState;
# gear
gearShifter @14 :GearShifter;
# button presses
buttonEvents @11 :List(ButtonEvent);
leftBlinker @20 :Bool;
rightBlinker @21 :Bool;
genericToggle @23 :Bool;
# lock info
doorOpen @24 :Bool;
seatbeltUnlatched @25 :Bool;
canValid @26 :Bool;
# clutch (manual transmission only)
clutchPressed @28 :Bool;
# which packets this state came from
canMonoTimes @12: List(UInt64);
# blindspot sensors
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
struct WheelSpeeds {
# optional wheel speeds
fl @0 :Float32;
fr @1 :Float32;
rl @2 :Float32;
rr @3 :Float32;
}
struct CruiseState {
enabled @0 :Bool;
speed @1 :Float32;
available @2 :Bool;
speedOffset @3 :Float32;
standstill @4 :Bool;
nonAdaptive @5 :Bool;
}
enum GearShifter {
unknown @0;
park @1;
drive @2;
neutral @3;
reverse @4;
sport @5;
low @6;
brake @7;
eco @8;
manumatic @9;
}
# send on change
struct ButtonEvent {
pressed @0 :Bool;
type @1 :Type;
enum Type {
unknown @0;
leftBlinker @1;
rightBlinker @2;
accelCruise @3;
decelCruise @4;
cancel @5;
altButton1 @6;
altButton2 @7;
altButton3 @8;
setCruise @9;
resumeCruise @10;
gapAdjustCruise @11;
}
}
errorsDEPRECATED @0 :List(CarEvent.EventName);
brakeLightsDEPRECATED @19 :Bool;
}
# ******* radar state @ 20hz *******
struct RadarData @0x888ad6581cf0aacb {
errors @0 :List(Error);
points @1 :List(RadarPoint);
# which packets this state came from
canMonoTimes @2 :List(UInt64);
enum Error {
canError @0;
fault @1;
wrongConfig @2;
}
# similar to LiveTracks
# is one timestamp valid for all? I think so
struct RadarPoint {
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
# these are optional and valid if they are not NaN
aRel @4 :Float32; # m/s^2
yvRel @5 :Float32; # m/s
# some radars flag measurements VS estimates
measured @6 :Bool;
}
}
# ******* car controls @ 100hz *******
struct CarControl {
# must be true for any actuator commands to work
enabled @0 :Bool;
active @7 :Bool;
# Actuator commands as computed by controlsd
actuators @6 :Actuators;
# Any car specific rate limits or quirks applied by
# the CarController are reflected in actuatorsOutput
# and matches what is sent to the car
actuatorsOutput @10 :Actuators;
roll @8 :Float32;
pitch @9 :Float32;
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;
steeringAngleDeg @3: Float32;
speed @6: Float32; # m/s
accel @4: Float32; # m/s^2
longControlState @5: LongControlState;
enum LongControlState @0xe40f3a917d908282{
off @0;
pid @1;
stopping @2;
startingDEPRECATED @3;
}
}
struct CruiseControl {
cancel @0: Bool;
override @1: Bool;
speedOverride @2: Float32;
accelOverride @3: Float32;
}
struct HUDControl {
speedVisible @0: Bool;
setSpeed @1: Float32;
lanesVisible @2: Bool;
leadVisible @3: Bool;
visualAlert @4: VisualAlert;
audibleAlert @5: AudibleAlert;
rightLaneVisible @6: Bool;
leftLaneVisible @7: Bool;
rightLaneDepart @8: Bool;
leftLaneDepart @9: Bool;
enum VisualAlert {
# these are the choices from the Honda
# map as good as you can for your car
none @0;
fcw @1;
steerRequired @2;
brakePressed @3;
wrongGear @4;
seatbeltUnbuckled @5;
speedTooHigh @6;
ldw @7;
}
enum AudibleAlert {
none @0;
engage @1;
disengage @2;
refuse @3;
warningSoft @4;
warningImmediate @5;
prompt @6;
promptRepeat @7;
promptDistracted @8;
}
}
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
steeringTorqueDEPRECATED @3 :Float32;
}
# ****** car param ******
struct CarParams {
carName @0 :Text;
carFingerprint @1 :Text;
fuzzyFingerprint @55 :Bool;
enableGasInterceptor @2 :Bool;
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
enableDsu @5 :Bool; # driving support unit
enableApgs @6 :Bool; # advanced parking guidance system
enableBsm @56 :Bool; # blind spot monitoring
flags @64 :UInt32; # flags for car specific quirks
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
maxSteeringAngleDeg @54 :Float32;
safetyConfigs @62 :List(SafetyConfig);
unsafeMode @65 :Int16;
steerMaxBP @11 :List(Float32);
steerMaxV @12 :List(Float32);
gasMaxBPDEPRECATED @13 :List(Float32);
gasMaxVDEPRECATED @14 :List(Float32);
brakeMaxBPDEPRECATED @15 :List(Float32);
brakeMaxVDEPRECATED @16 :List(Float32);
# things about the car in the manual
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
# things we can derive
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indi @27 :LateralINDITuning;
lqr @40 :LateralLQRTuning;
}
steerLimitAlert @28 :Bool;
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
steerControlType @34 :SteerControlType;
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
dashcamOnly @41: Bool;
transmissionType @43 :TransmissionType;
carFw @44 :List(CarFw);
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
fingerprintSource @49: FingerprintSource;
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
struct SafetyConfig {
safetyModel @0 :SafetyModel;
safetyParam @1 :Int16;
}
struct LateralParams {
torqueBP @0 :List(Int32);
torqueV @1 :List(Int32);
}
struct LateralPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @4 :Float32;
}
struct LongitudinalPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
deadzoneBP @4 :List(Float32);
deadzoneV @5 :List(Float32);
}
struct LateralINDITuning {
outerLoopGainBP @4 :List(Float32);
outerLoopGainV @5 :List(Float32);
innerLoopGainBP @6 :List(Float32);
innerLoopGainV @7 :List(Float32);
timeConstantBP @8 :List(Float32);
timeConstantV @9 :List(Float32);
actuatorEffectivenessBP @10 :List(Float32);
actuatorEffectivenessV @11 :List(Float32);
outerLoopGainDEPRECATED @0 :Float32;
innerLoopGainDEPRECATED @1 :Float32;
timeConstantDEPRECATED @2 :Float32;
actuatorEffectivenessDEPRECATED @3 :Float32;
}
struct LateralLQRTuning {
scale @0 :Float32;
ki @1 :Float32;
dcGain @2 :Float32;
# State space system
a @3 :List(Float32);
b @4 :List(Float32);
c @5 :List(Float32);
k @6 :List(Float32); # LQR gain
l @7 :List(Float32); # Kalman gain
}
enum SafetyModel {
silent @0;
hondaNidec @1;
toyota @2;
elm327 @3;
gm @4;
hondaBoschGiraffe @5;
ford @6;
cadillac @7;
hyundai @8;
chrysler @9;
tesla @10;
subaru @11;
gmPassive @12;
mazda @13;
nissan @14;
volkswagen @15;
toyotaIpas @16;
allOutput @17;
gmAscm @18;
noOutput @19; # like silent but without silent CAN TXs
hondaBosch @20;
volkswagenPq @21;
subaruLegacy @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
stellantis @25;
}
enum SteerControlType {
torque @0;
angle @1;
}
enum TransmissionType {
unknown @0;
automatic @1; # Traditional auto, including DSG
manual @2; # True "stick shift" only
direct @3; # Electric vehicle or other direct drive
cvt @4;
}
struct CarFw {
ecu @0 :Ecu;
fwVersion @1 :Data;
address @2: UInt32;
subAddress @3: UInt8;
}
enum Ecu {
eps @0;
esp @1;
fwdRadar @2;
fwdCamera @3;
engine @4;
unknown @5;
transmission @8; # Transmission Control Module
srs @9; # airbag
gateway @10; # can gateway
hud @11; # heads up display
combinationMeter @12; # instrument cluster
# Toyota only
dsu @6;
apgs @7;
# Honda only
vsa @13; # Vehicle Stability Assist
programmedFuelInjection @14;
electricBrakeBooster @15;
shiftByWire @16;
}
enum FingerprintSource {
can @0;
fw @1;
fixed @2;
}
enum NetworkLocation {
fwdCamera @0; # Standard/default integration at LKAS camera
gateway @1; # Integration at vehicle's CAN gateway
}
enableCameraDEPRECATED @4 :Bool;
isPandaBlackDEPRECATED @39 :Bool;
hasStockCameraDEPRECATED @57 :Bool;
safetyParamDEPRECATED @10 :Int16;
safetyModelDEPRECATED @9 :SafetyModel;
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
minSpeedCanDEPRECATED @51 :Float32;
startAccelDEPRECATED @32 :Float32;
communityFeatureDEPRECATED @46: Bool;
startingAccelRateDEPRECATED @53 :Float32;
}
cereal/gen/c/include/c++.capnp.h
View File
cereal/gen/cpp/car.capnp.c++
+5862
View File
File diff suppressed because it is too large Load Diff
cereal/gen/cpp/car.capnp.h
+7705
View File
File diff suppressed because it is too large Load Diff
cereal/gen/cpp/legacy.capnp.c++
+10663
View File
File diff suppressed because it is too large Load Diff
cereal/gen/cpp/legacy.capnp.h
+16555
View File
File diff suppressed because it is too large Load Diff
cereal/gen/cpp/log.capnp.c++
+19662
View File
File diff suppressed because it is too large Load Diff
cereal/gen/cpp/log.capnp.h
+35461
View File
File diff suppressed because it is too large Load Diff
cereal/include/c++.capnp
+26
View File
@@ -0,0 +1,26 @@
# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
# Licensed under the MIT License:
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
@0xbdf87d7bb8304e81;
$namespace("capnp::annotations");
annotation namespace(file): Text;
annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;
cereal/legacy.capnp
+861
View File
@@ -0,0 +1,861 @@
using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0x80ef1ec4889c2a63;
# legacy.capnp: a home for deprecated structs
struct LogRotate @0x9811e1f38f62f2d1 {
segmentNum @0 :Int32;
path @1 :Text;
}
struct LiveUI @0xc08240f996aefced {
rearViewCam @0 :Bool;
alertText1 @1 :Text;
alertText2 @2 :Text;
awarenessStatus @3 :Float32;
}
struct UiLayoutState @0x88dcce08ad29dda0 {
activeApp @0 :App;
sidebarCollapsed @1 :Bool;
mapEnabled @2 :Bool;
mockEngaged @3 :Bool;
enum App @0x9917470acf94d285 {
home @0;
music @1;
nav @2;
settings @3;
none @4;
}
}
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
correctionMonoTime @0 :UInt64;
prePositionECEF @1 :List(Float64);
postPositionECEF @2 :List(Float64);
prePoseQuatECEF @3 :List(Float32);
postPoseQuatECEF @4 :List(Float32);
numInliers @5 :UInt32;
}
struct EthernetPacket @0xa99a9d5b33cf5859 {
pkt @0 :Data;
ts @1 :Float32;
}
struct CellInfo @0xcff7566681c277ce {
timestamp @0 :UInt64;
repr @1 :Text; # android toString() for now
}
struct WifiScan @0xd4df5a192382ba0b {
bssid @0 :Text;
ssid @1 :Text;
capabilities @2 :Text;
frequency @3 :Int32;
level @4 :Int32;
timestamp @5 :Int64;
centerFreq0 @6 :Int32;
centerFreq1 @7 :Int32;
channelWidth @8 :ChannelWidth;
operatorFriendlyName @9 :Text;
venueName @10 :Text;
is80211mcResponder @11 :Bool;
passpoint @12 :Bool;
distanceCm @13 :Int32;
distanceSdCm @14 :Int32;
enum ChannelWidth @0xcb6a279f015f6b51 {
w20Mhz @0;
w40Mhz @1;
w80Mhz @2;
w160Mhz @3;
w80Plus80Mhz @4;
}
}
struct LiveEventData @0x94b7baa90c5c321e {
name @0 :Text;
value @1 :Int32;
}
struct ModelData @0xb8aad62cffef28a9 {
frameId @0 :UInt32;
frameAge @12 :UInt32;
frameDropPerc @13 :Float32;
timestampEof @9 :UInt64;
modelExecutionTime @14 :Float32;
gpuExecutionTime @16 :Float32;
rawPred @15 :Data;
path @1 :PathData;
leftLane @2 :PathData;
rightLane @3 :PathData;
lead @4 :LeadData;
freePath @6 :List(Float32);
settings @5 :ModelSettings;
leadFuture @7 :LeadData;
speed @8 :List(Float32);
meta @10 :MetaData;
longitudinal @11 :LongitudinalData;
struct PathData @0x8817eeea389e9f08 {
points @0 :List(Float32);
prob @1 :Float32;
std @2 :Float32;
stds @3 :List(Float32);
poly @4 :List(Float32);
validLen @5 :Float32;
}
struct LeadData @0xd1c9bef96d26fa91 {
dist @0 :Float32;
prob @1 :Float32;
std @2 :Float32;
relVel @3 :Float32;
relVelStd @4 :Float32;
relY @5 :Float32;
relYStd @6 :Float32;
relA @7 :Float32;
relAStd @8 :Float32;
}
struct ModelSettings @0xa26e3710efd3e914 {
bigBoxX @0 :UInt16;
bigBoxY @1 :UInt16;
bigBoxWidth @2 :UInt16;
bigBoxHeight @3 :UInt16;
boxProjection @4 :List(Float32);
yuvCorrection @5 :List(Float32);
inputTransform @6 :List(Float32);
}
struct MetaData @0x9744f25fb60f2bf8 {
engagedProb @0 :Float32;
desirePrediction @1 :List(Float32);
brakeDisengageProb @2 :Float32;
gasDisengageProb @3 :Float32;
steerOverrideProb @4 :Float32;
desireState @5 :List(Float32);
}
struct LongitudinalData @0xf98f999c6a071122 {
distances @2 :List(Float32);
speeds @0 :List(Float32);
accelerations @1 :List(Float32);
}
}
struct ECEFPoint @0xc25bbbd524983447 {
x @0 :Float64;
y @1 :Float64;
z @2 :Float64;
}
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
x @0 :Float32;
y @1 :Float32;
z @2 :Float32;
}
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
curPos @6 :ECEFPoint;
points @7 :List(ECEFPoint);
valid @2 :Bool;
trackName @3 :Text;
speedLimit @4 :Float32;
accelTarget @5 :Float32;
}
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
valid @0 :Bool;
poly @1 :List(Float32);
trackName @2 :Text;
speed @3 :Float32;
acceleration @4 :Float32;
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
points @6 :List(ECEFPoint);
xLookahead @7 :Float32;
}
struct UiNavigationEvent @0x90c8426c3eaddd3b {
type @0: Type;
status @1: Status;
distanceTo @2: Float32;
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
endRoadPoint @4: ECEFPoint;
enum Type @0xe8db07dcf8fcea05 {
none @0;
laneChangeLeft @1;
laneChangeRight @2;
mergeLeft @3;
mergeRight @4;
turnLeft @5;
turnRight @6;
}
enum Status @0xb9aa88c75ef99a1f {
none @0;
passive @1;
approaching @2;
active @3;
}
}
struct LiveLocationData @0xb99b2bc7a57e8128 {
status @0 :UInt8;
# 3D fix
lat @1 :Float64;
lon @2 :Float64;
alt @3 :Float32; # m
# speed
speed @4 :Float32; # m/s
# NED velocity components
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?
# what are these?
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);
# accel, in car frame, m/s^2
accel @12 :List(Float32);
accuracy @13 :Accuracy;
source @14 :SensorSource;
# if we are fixing a location in the past
fixMonoTime @15 :UInt64;
gpsWeek @16 :Int32;
timeOfWeek @17 :Float64;
positionECEF @18 :List(Float64);
poseQuatECEF @19 :List(Float32);
pitchCalibration @20 :Float32;
yawCalibration @21 :Float32;
imuFrame @22 :List(Float32);
struct Accuracy @0x943dc4625473b03f {
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;
}
enum SensorSource @0xc871d3cc252af657 {
applanix @0;
kalman @1;
orbslam @2;
timing @3;
dummy @4;
}
}
struct OrbOdometry @0xd7700859ed1f5b76 {
# timing first
startMonoTime @0 :UInt64;
endMonoTime @1 :UInt64;
# fundamental matrix and error
f @2: List(Float64);
err @3: Float64;
# number of inlier points
inliers @4: Int32;
# for debug only
# indexed by endMonoTime features
# value is startMonoTime feature match
# -1 if no match
matches @5: List(Int16);
}
struct OrbFeatures @0xcd60164a8a0159ef {
timestampEof @0 :UInt64;
# transposed arrays of normalized image coordinates
# len(xs) == len(ys) == len(descriptors) * 32
xs @1 :List(Float32);
ys @2 :List(Float32);
descriptors @3 :Data;
octaves @4 :List(Int8);
# match index to last OrbFeatures
# -1 if no match
timestampLastEof @5 :UInt64;
matches @6: List(Int16);
}
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
timestampEof @0 :UInt64;
timestampLastEof @1 :UInt64;
featureCount @2 :UInt16;
matchCount @3 :UInt16;
computeNs @4 :UInt64;
}
struct OrbKeyFrame @0xc8233c0345e27e24 {
# this is a globally unique id for the KeyFrame
id @0: UInt64;
# this is the location of the KeyFrame
pos @1: ECEFPoint;
# these are the features in the world
# len(dpos) == len(descriptors) * 32
dpos @2 :List(ECEFPoint);
descriptors @3 :Data;
}
struct KalmanOdometry @0x92e21bb7ea38793a {
trans @0 :List(Float32); # m/s in device frame
rot @1 :List(Float32); # rad/s in device frame
transStd @2 :List(Float32); # std m/s in device frame
rotStd @3 :List(Float32); # std rad/s in device frame
}
struct OrbObservation @0x9b326d4e436afec7 {
observationMonoTime @0 :UInt64;
normalizedCoordinates @1 :List(Float32);
locationECEF @2 :List(Float64);
matchDistance @3: UInt32;
}
struct CalibrationFeatures @0x8fdfadb254ea867a {
frameId @0 :UInt32;
p0 @1 :List(Float32);
p1 @2 :List(Float32);
status @3 :List(Int8);
}
struct NavStatus @0xbd8822120928120c {
isNavigating @0 :Bool;
currentAddress @1 :Address;
struct Address @0xce7cd672cacc7814 {
title @0 :Text;
lat @1 :Float64;
lng @2 :Float64;
house @3 :Text;
address @4 :Text;
street @5 :Text;
city @6 :Text;
state @7 :Text;
country @8 :Text;
}
}
struct NavUpdate @0xdb98be6565516acb {
isNavigating @0 :Bool;
curSegment @1 :Int32;
segments @2 :List(Segment);
struct LatLng @0x9eaef9187cadbb9b {
lat @0 :Float64;
lng @1 :Float64;
}
struct Segment @0xa5b39b4fc4d7da3f {
from @0 :LatLng;
to @1 :LatLng;
updateTime @2 :Int32;
distance @3 :Int32;
crossTime @4 :Int32;
exitNo @5 :Int32;
instruction @6 :Instruction;
parts @7 :List(LatLng);
enum Instruction @0xc5417a637451246f {
turnLeft @0;
turnRight @1;
keepLeft @2;
keepRight @3;
straight @4;
roundaboutExitNumber @5;
roundaboutExit @6;
roundaboutTurnLeft @7;
unkn8 @8;
roundaboutStraight @9;
unkn10 @10;
roundaboutTurnRight @11;
unkn12 @12;
roundaboutUturn @13;
unkn14 @14;
arrive @15;
exitLeft @16;
exitRight @17;
unkn18 @18;
uturn @19;
# ...
}
}
}
struct TrafficEvent @0xacfa74a094e62626 {
type @0 :Type;
distance @1 :Float32;
action @2 :Action;
resuming @3 :Bool;
enum Type @0xd85d75253435bf4b {
stopSign @0;
lightRed @1;
lightYellow @2;
lightGreen @3;
stopLight @4;
}
enum Action @0xa6f6ce72165ccb49 {
none @0;
yield @1;
stop @2;
resumeReady @3;
}
}
struct AndroidGnss @0xdfdf30d03fc485bd {
union {
measurements @0 :Measurements;
navigationMessage @1 :NavigationMessage;
}
struct Measurements @0xa20710d4f428d6cd {
clock @0 :Clock;
measurements @1 :List(Measurement);
struct Clock @0xa0e27b453a38f450 {
timeNanos @0 :Int64;
hardwareClockDiscontinuityCount @1 :Int32;
hasTimeUncertaintyNanos @2 :Bool;
timeUncertaintyNanos @3 :Float64;
hasLeapSecond @4 :Bool;
leapSecond @5 :Int32;
hasFullBiasNanos @6 :Bool;
fullBiasNanos @7 :Int64;
hasBiasNanos @8 :Bool;
biasNanos @9 :Float64;
hasBiasUncertaintyNanos @10 :Bool;
biasUncertaintyNanos @11 :Float64;
hasDriftNanosPerSecond @12 :Bool;
driftNanosPerSecond @13 :Float64;
hasDriftUncertaintyNanosPerSecond @14 :Bool;
driftUncertaintyNanosPerSecond @15 :Float64;
}
struct Measurement @0xd949bf717d77614d {
svId @0 :Int32;
constellation @1 :Constellation;
timeOffsetNanos @2 :Float64;
state @3 :Int32;
receivedSvTimeNanos @4 :Int64;
receivedSvTimeUncertaintyNanos @5 :Int64;
cn0DbHz @6 :Float64;
pseudorangeRateMetersPerSecond @7 :Float64;
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
accumulatedDeltaRangeState @9 :Int32;
accumulatedDeltaRangeMeters @10 :Float64;
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
hasCarrierFrequencyHz @12 :Bool;
carrierFrequencyHz @13 :Float32;
hasCarrierCycles @14 :Bool;
carrierCycles @15 :Int64;
hasCarrierPhase @16 :Bool;
carrierPhase @17 :Float64;
hasCarrierPhaseUncertainty @18 :Bool;
carrierPhaseUncertainty @19 :Float64;
hasSnrInDb @20 :Bool;
snrInDb @21 :Float64;
multipathIndicator @22 :MultipathIndicator;
enum Constellation @0x9ef1f3ff0deb5ffb {
unknown @0;
gps @1;
sbas @2;
glonass @3;
qzss @4;
beidou @5;
galileo @6;
}
enum State @0xcbb9490adce12d72 {
unknown @0;
codeLock @1;
bitSync @2;
subframeSync @3;
towDecoded @4;
msecAmbiguous @5;
symbolSync @6;
gloStringSync @7;
gloTodDecoded @8;
bdsD2BitSync @9;
bdsD2SubframeSync @10;
galE1bcCodeLock @11;
galE1c2ndCodeLock @12;
galE1bPageSync @13;
sbasSync @14;
}
enum MultipathIndicator @0xc04e7b6231d4caa8 {
unknown @0;
detected @1;
notDetected @2;
}
}
}
struct NavigationMessage @0xe2517b083095fd4e {
type @0 :Int32;
svId @1 :Int32;
messageId @2 :Int32;
submessageId @3 :Int32;
data @4 :Data;
status @5 :Status;
enum Status @0xec1ff7996b35366f {
unknown @0;
parityPassed @1;
parityRebuilt @2;
}
}
}
struct QcomGnss @0xde94674b07ae51c1 {
logTs @0 :UInt64;
union {
measurementReport @1 :MeasurementReport;
clockReport @2 :ClockReport;
drMeasurementReport @3 :DrMeasurementReport;
drSvPoly @4 :DrSvPolyReport;
rawLog @5 :Data;
}
enum MeasurementSource @0xd71a12b6faada7ee {
gps @0;
glonass @1;
beidou @2;
}
enum SVObservationState @0xe81e829a0d6c83e9 {
idle @0;
search @1;
searchVerify @2;
bitEdge @3;
trackVerify @4;
track @5;
restart @6;
dpo @7;
glo10msBe @8;
glo10msAt @9;
}
struct MeasurementStatus @0xe501010e1bcae83b {
subMillisecondIsValid @0 :Bool;
subBitTimeIsKnown @1 :Bool;
satelliteTimeIsKnown @2 :Bool;
bitEdgeConfirmedFromSignal @3 :Bool;
measuredVelocity @4 :Bool;
fineOrCoarseVelocity @5 :Bool;
lockPointValid @6 :Bool;
lockPointPositive @7 :Bool;
lastUpdateFromDifference @8 :Bool;
lastUpdateFromVelocityDifference @9 :Bool;
strongIndicationOfCrossCorelation @10 :Bool;
tentativeMeasurement @11 :Bool;
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;
multipathIndicator @23 :Bool;
imdJammingIndicator @24 :Bool;
lteB13TxJammingIndicator @25 :Bool;
freshMeasurementIndicator @26 :Bool;
multipathEstimateIsValid @27 :Bool;
directionIsValid @28 :Bool;
}
struct MeasurementReport @0xf580d7d86b7b8692 {
source @0 :MeasurementSource;
fCount @1 :UInt32;
gpsWeek @2 :UInt16;
glonassCycleNumber @3 :UInt8;
glonassNumberOfDays @4 :UInt16;
milliseconds @5 :UInt32;
timeBias @6 :Float32;
clockTimeUncertainty @7 :Float32;
clockFrequencyBias @8 :Float32;
clockFrequencyUncertainty @9 :Float32;
sv @10 :List(SV);
struct SV @0xf10c595ae7bb2c27 {
svId @0 :UInt8;
observationState @2 :SVObservationState;
observations @3 :UInt8;
goodObservations @4 :UInt8;
gpsParityErrorCount @5 :UInt16;
glonassFrequencyIndex @1 :Int8;
glonassHemmingErrorCount @6 :UInt8;
filterStages @7 :UInt8;
carrierNoise @8 :UInt16;
latency @9 :Int16;
predetectInterval @10 :UInt8;
postdetections @11 :UInt16;
unfilteredMeasurementIntegral @12 :UInt32;
unfilteredMeasurementFraction @13 :Float32;
unfilteredTimeUncertainty @14 :Float32;
unfilteredSpeed @15 :Float32;
unfilteredSpeedUncertainty @16 :Float32;
measurementStatus @17 :MeasurementStatus;
multipathEstimate @18 :UInt32;
azimuth @19 :Float32;
elevation @20 :Float32;
carrierPhaseCyclesIntegral @21 :Int32;
carrierPhaseCyclesFraction @22 :UInt16;
fineSpeed @23 :Float32;
fineSpeedUncertainty @24 :Float32;
cycleSlipCount @25 :UInt8;
}
}
struct ClockReport @0xca965e4add8f4f0b {
hasFCount @0 :Bool;
fCount @1 :UInt32;
hasGpsWeek @2 :Bool;
gpsWeek @3 :UInt16;
hasGpsMilliseconds @4 :Bool;
gpsMilliseconds @5 :UInt32;
gpsTimeBias @6 :Float32;
gpsClockTimeUncertainty @7 :Float32;
gpsClockSource @8 :UInt8;
hasGlonassYear @9 :Bool;
glonassYear @10 :UInt8;
hasGlonassDay @11 :Bool;
glonassDay @12 :UInt16;
hasGlonassMilliseconds @13 :Bool;
glonassMilliseconds @14 :UInt32;
glonassTimeBias @15 :Float32;
glonassClockTimeUncertainty @16 :Float32;
glonassClockSource @17 :UInt8;
bdsWeek @18 :UInt16;
bdsMilliseconds @19 :UInt32;
bdsTimeBias @20 :Float32;
bdsClockTimeUncertainty @21 :Float32;
bdsClockSource @22 :UInt8;
galWeek @23 :UInt16;
galMilliseconds @24 :UInt32;
galTimeBias @25 :Float32;
galClockTimeUncertainty @26 :Float32;
galClockSource @27 :UInt8;
clockFrequencyBias @28 :Float32;
clockFrequencyUncertainty @29 :Float32;
frequencySource @30 :UInt8;
gpsLeapSeconds @31 :UInt8;
gpsLeapSecondsUncertainty @32 :UInt8;
gpsLeapSecondsSource @33 :UInt8;
gpsToGlonassTimeBiasMilliseconds @34 :Float32;
gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
gpsToBdsTimeBiasMilliseconds @36 :Float32;
gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
bdsToGloTimeBiasMilliseconds @38 :Float32;
bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
gpsToGalTimeBiasMilliseconds @40 :Float32;
gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
galToGloTimeBiasMilliseconds @42 :Float32;
galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
galToBdsTimeBiasMilliseconds @44 :Float32;
galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
hasRtcTime @46 :Bool;
systemRtcTime @47 :UInt32;
fCountOffset @48 :UInt32;
lpmRtcCount @49 :UInt32;
clockResets @50 :UInt32;
}
struct DrMeasurementReport @0x8053c39445c6c75c {
reason @0 :UInt8;
seqNum @1 :UInt8;
seqMax @2 :UInt8;
rfLoss @3 :UInt16;
systemRtcValid @4 :Bool;
fCount @5 :UInt32;
clockResets @6 :UInt32;
systemRtcTime @7 :UInt64;
gpsLeapSeconds @8 :UInt8;
gpsLeapSecondsUncertainty @9 :UInt8;
gpsToGlonassTimeBiasMilliseconds @10 :Float32;
gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
gpsWeek @12 :UInt16;
gpsMilliseconds @13 :UInt32;
gpsTimeBiasMs @14 :UInt32;
gpsClockTimeUncertaintyMs @15 :UInt32;
gpsClockSource @16 :UInt8;
glonassClockSource @17 :UInt8;
glonassYear @18 :UInt8;
glonassDay @19 :UInt16;
glonassMilliseconds @20 :UInt32;
glonassTimeBias @21 :Float32;
glonassClockTimeUncertainty @22 :Float32;
clockFrequencyBias @23 :Float32;
clockFrequencyUncertainty @24 :Float32;
frequencySource @25 :UInt8;
source @26 :MeasurementSource;
sv @27 :List(SV);
struct SV @0xf08b81df8cbf459c {
svId @0 :UInt8;
glonassFrequencyIndex @1 :Int8;
observationState @2 :SVObservationState;
observations @3 :UInt8;
goodObservations @4 :UInt8;
filterStages @5 :UInt8;
predetectInterval @6 :UInt8;
cycleSlipCount @7 :UInt8;
postdetections @8 :UInt16;
measurementStatus @9 :MeasurementStatus;
carrierNoise @10 :UInt16;
rfLoss @11 :UInt16;
latency @12 :Int16;
filteredMeasurementFraction @13 :Float32;
filteredMeasurementIntegral @14 :UInt32;
filteredTimeUncertainty @15 :Float32;
filteredSpeed @16 :Float32;
filteredSpeedUncertainty @17 :Float32;
unfilteredMeasurementFraction @18 :Float32;
unfilteredMeasurementIntegral @19 :UInt32;
unfilteredTimeUncertainty @20 :Float32;
unfilteredSpeed @21 :Float32;
unfilteredSpeedUncertainty @22 :Float32;
multipathEstimate @23 :UInt32;
azimuth @24 :Float32;
elevation @25 :Float32;
dopplerAcceleration @26 :Float32;
fineSpeed @27 :Float32;
fineSpeedUncertainty @28 :Float32;
carrierPhase @29 :Float64;
fCount @30 :UInt32;
parityErrorCount @31 :UInt16;
goodParity @32 :Bool;
}
}
struct DrSvPolyReport @0xb1fb80811a673270 {
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 @0xe3d6685d4e9d8f7a {
r @0 :List(UInt16); # uint16 m*500.0
theta @1 :List(UInt16); # uint16 deg*100.0
reflect @2 :List(UInt8); # uint8 0-255
# For storing out of file.
idx @3 :UInt64;
# For storing in file
pkt @4 :Data;
}
cereal/libcereal_shared.so
Executable
BIN
View File
Binary file not shown.
cereal/log.capnp
+1540
View File
File diff suppressed because it is too large Load Diff
cereal/logger/logger.h
+20
View File
@@ -0,0 +1,20 @@
#pragma once
#ifdef SWAGLOG
#include "selfdrive/common/swaglog.h"
#else
#define CLOUDLOG_DEBUG 10
#define CLOUDLOG_INFO 20
#define CLOUDLOG_WARNING 30
#define CLOUDLOG_ERROR 40
#define CLOUDLOG_CRITICAL 50
#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
#endif
cereal/messaging/.gitignore
+10
View File
@@ -0,0 +1,10 @@
demo
bridge
test_runner
*.o
*.os
*.d
*.a
*.so
messaging_pyx.cpp
build/
cereal/messaging/__init__.py
+251
View File
@@ -0,0 +1,251 @@
# must be build with scons
from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
import os
import capnp
from typing import Optional, List, Union
from collections import deque
from cereal import log
from cereal.services import service_list
assert MultiplePublishersError
assert MessagingError
NO_TRAVERSAL_LIMIT = 2**64-1
AVG_FREQ_HISTORY = 100
SIMULATION = "SIMULATION" in os.environ
# sec_since_boot is faster, but allow to run standalone too
try:
from common.realtime import sec_since_boot
except ImportError:
import time
sec_since_boot = time.time
print("Warning, using python time.time() instead of faster sec_since_boot")
context = Context()
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
dat = log.Event.new_message()
dat.logMonoTime = int(sec_since_boot() * 1e9)
dat.valid = True
if service is not None:
if size is None:
dat.init(service)
else:
dat.init(service, size)
return dat
def pub_sock(endpoint: str) -> PubSocket:
sock = PubSocket()
sock.connect(context, endpoint)
return sock
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
sock = SubSocket()
sock.connect(context, endpoint, addr.encode('utf8'), conflate)
if timeout is not None:
sock.setTimeout(timeout)
if poller is not None:
poller.registerSocket(sock)
return sock
def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
"""Receive all message currently available on the queue"""
ret: List[bytes] = []
while 1:
if wait_for_one and len(ret) == 0:
dat = sock.receive()
else:
dat = sock.receive(non_blocking=True)
if dat is None:
break
ret.append(dat)
return ret
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
"""Receive all message currently available on the queue"""
ret: List[capnp.lib.capnp._DynamicStructReader] = []
while 1:
if wait_for_one and len(ret) == 0:
dat = sock.receive()
else:
dat = sock.receive(non_blocking=True)
if dat is None: # Timeout hit
break
dat = log_from_bytes(dat)
ret.append(dat)
return ret
# TODO: print when we drop packets?
def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
dat = None
while 1:
if wait and dat is None:
rcv = sock.receive()
else:
rcv = sock.receive(non_blocking=True)
if rcv is None: # Timeout hit
break
dat = rcv
if dat is not None:
dat = log_from_bytes(dat)
return dat
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
dat = sock.receive()
if dat is not None:
dat = log_from_bytes(dat)
return dat
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
dat = sock.receive(non_blocking=True)
if dat is not None:
dat = log_from_bytes(dat)
return dat
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
"""Keep receiving until we get a message"""
while True:
dat = sock.receive()
if dat is not None:
return log_from_bytes(dat)
class SubMaster():
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
addr: str = "127.0.0.1"):
self.frame = -1
self.updated = {s: False for s in services}
self.rcv_time = {s: 0. for s in services}
self.rcv_frame = {s: 0 for s in services}
self.alive = {s: False for s in services}
self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
self.sock = {}
self.freq = {}
self.data = {}
self.valid = {}
self.logMonoTime = {}
self.poller = Poller()
self.non_polled_services = [s for s in services if poll is not None and
len(poll) and s not in poll]
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
self.ignore_alive = [] if ignore_alive is None else ignore_alive
for s in services:
if addr is not None:
p = self.poller if s not in self.non_polled_services else None
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
self.freq[s] = service_list[s].frequency
try:
data = new_message(s)
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
data = new_message(s, 0) # lists
self.data[s] = getattr(data, s)
self.logMonoTime[s] = 0
self.valid[s] = data.valid
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
return self.data[s]
def update(self, timeout: int = 1000) -> None:
msgs = []
for sock in self.poller.poll(timeout):
msgs.append(recv_one_or_none(sock))
# non-blocking receive for non-polled sockets
for s in self.non_polled_services:
msgs.append(recv_one_or_none(self.sock[s]))
self.update_msgs(sec_since_boot(), msgs)
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
self.frame += 1
self.updated = dict.fromkeys(self.updated, False)
for msg in msgs:
if msg is None:
continue
s = msg.which()
self.updated[s] = True
if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
and (s not in self.ignore_average_freq):
self.recv_dts[s].append(cur_time - self.rcv_time[s])
self.rcv_time[s] = cur_time
self.rcv_frame[s] = self.frame
self.data[s] = getattr(msg, s)
self.logMonoTime[s] = msg.logMonoTime
self.valid[s] = msg.valid
if SIMULATION:
self.alive[s] = True
if not SIMULATION:
for s in self.data:
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
if self.freq[s] > 1e-5:
# alive if delay is within 10x the expected frequency
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
# alive if average frequency is higher than 90% of expected frequency
avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
expected_dt = 1 / (self.freq[s] * 0.90)
self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
else:
self.alive[s] = True
def all_alive(self, service_list=None) -> bool:
if service_list is None: # check all
service_list = self.alive.keys()
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
def all_valid(self, service_list=None) -> bool:
if service_list is None: # check all
service_list = self.valid.keys()
return all(self.valid[s] for s in service_list)
def all_alive_and_valid(self, service_list=None) -> bool:
if service_list is None: # check all
service_list = self.alive.keys()
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
class PubMaster():
def __init__(self, services: List[str]):
self.sock = {}
for s in services:
self.sock[s] = pub_sock(s)
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
if not isinstance(dat, bytes):
dat = dat.to_bytes()
self.sock[s].send(dat)
def all_readers_updated(self, s: str) -> bool:
return self.sock[s].all_readers_updated()
cereal/messaging/bridge
Executable
BIN
View File
Binary file not shown.
cereal/messaging/bridge.cc
+79
View File
@@ -0,0 +1,79 @@
#include <algorithm>
#include <cassert>
#include <csignal>
#include <iostream>
#include <map>
#include <string>
typedef void (*sighandler_t)(int sig);
#include "impl_msgq.h"
#include "impl_zmq.h"
#include "services.h"
void sigpipe_handler(int sig) {
assert(sig == SIGPIPE);
std::cout << "SIGPIPE received" << std::endl;
}
static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
std::vector<std::string> service_list;
for (const auto& it : services) {
std::string name = it.name;
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
continue;
}
service_list.push_back(name);
}
return service_list;
}
int main(int argc, char** argv) {
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
bool zmq_to_msgq = argc > 2;
std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
Poller *poller;
Context *pub_context;
Context *sub_context;
if (zmq_to_msgq) { // republishes zmq debugging messages as msgq
poller = new ZMQPoller();
pub_context = new MSGQContext();
sub_context = new ZMQContext();
} else {
poller = new MSGQPoller();
pub_context = new ZMQContext();
sub_context = new MSGQContext();
}
std::map<SubSocket*, PubSocket*> sub2pub;
for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
PubSocket * pub_sock;
SubSocket * sub_sock;
if (zmq_to_msgq) {
pub_sock = new MSGQPubSocket();
sub_sock = new ZMQSubSocket();
} else {
pub_sock = new ZMQPubSocket();
sub_sock = new MSGQSubSocket();
}
pub_sock->connect(pub_context, endpoint);
sub_sock->connect(sub_context, endpoint, ip, false);
poller->registerSocket(sub_sock);
sub2pub[sub_sock] = pub_sock;
}
while (true) {
for (auto sub_sock : poller->poll(100)) {
Message * msg = sub_sock->receive();
if (msg == NULL) continue;
sub2pub[sub_sock]->sendMessage(msg);
delete msg;
}
}
return 0;
}
cereal/messaging/impl_msgq.cc
+230
View File
@@ -0,0 +1,230 @@
#include <cassert>
#include <cstring>
#include <iostream>
#include <cstdlib>
#include <csignal>
#include <cerrno>
#include "services.h"
#include "impl_msgq.h"
volatile sig_atomic_t msgq_do_exit = 0;
void sig_handler(int signal) {
assert(signal == SIGINT || signal == SIGTERM);
msgq_do_exit = 1;
}
static bool service_exists(std::string path){
for (const auto& it : services) {
if (it.name == path) {
return true;
}
}
return false;
}
static size_t get_size(std::string endpoint){
size_t sz = DEFAULT_SEGMENT_SIZE;
if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
sz *= 10;
}
return sz;
}
MSGQContext::MSGQContext() {
}
MSGQContext::~MSGQContext() {
}
void MSGQMessage::init(size_t sz) {
size = sz;
data = new char[size];
}
void MSGQMessage::init(char * d, size_t sz) {
size = sz;
data = new char[size];
memcpy(data, d, size);
}
void MSGQMessage::takeOwnership(char * d, size_t sz) {
size = sz;
data = d;
}
void MSGQMessage::close() {
if (size > 0){
delete[] data;
}
size = 0;
}
MSGQMessage::~MSGQMessage() {
this->close();
}
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
assert(context);
assert(address == "127.0.0.1");
if (check_endpoint && !service_exists(std::string(endpoint))){
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
}
q = new msgq_queue_t;
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
if (r != 0){
return r;
}
msgq_init_subscriber(q);
if (conflate){
q->read_conflate = true;
}
timeout = -1;
return 0;
}
Message * MSGQSubSocket::receive(bool non_blocking){
msgq_do_exit = 0;
void (*prev_handler_sigint)(int);
void (*prev_handler_sigterm)(int);
if (!non_blocking){
prev_handler_sigint = std::signal(SIGINT, sig_handler);
prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
}
msgq_msg_t msg;
MSGQMessage *r = NULL;
int rc = msgq_msg_recv(&msg, q);
// Hack to implement blocking read with a poller. Don't use this
while (!non_blocking && rc == 0 && msgq_do_exit == 0){
msgq_pollitem_t items[1];
items[0].q = q;
int t = (timeout != -1) ? timeout : 100;
int n = msgq_poll(items, 1, t);
rc = msgq_msg_recv(&msg, q);
// The poll indicated a message was ready, but the receive failed. Try again
if (n == 1 && rc == 0){
continue;
}
if (timeout != -1){
break;
}
}
if (!non_blocking){
std::signal(SIGINT, prev_handler_sigint);
std::signal(SIGTERM, prev_handler_sigterm);
}
errno = msgq_do_exit ? EINTR : 0;
if (rc > 0){
if (msgq_do_exit){
msgq_msg_close(&msg); // Free unused message on exit
} else {
r = new MSGQMessage;
r->takeOwnership(msg.data, msg.size);
}
}
return (Message*)r;
}
void MSGQSubSocket::setTimeout(int t){
timeout = t;
}
MSGQSubSocket::~MSGQSubSocket(){
if (q != NULL){
msgq_close_queue(q);
delete q;
}
}
int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
assert(context);
if (check_endpoint && !service_exists(std::string(endpoint))){
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
}
q = new msgq_queue_t;
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
if (r != 0){
return r;
}
msgq_init_publisher(q);
return 0;
}
int MSGQPubSocket::sendMessage(Message *message){
msgq_msg_t msg;
msg.data = message->getData();
msg.size = message->getSize();
return msgq_msg_send(&msg, q);
}
int MSGQPubSocket::send(char *data, size_t size){
msgq_msg_t msg;
msg.data = data;
msg.size = size;
return msgq_msg_send(&msg, q);
}
bool MSGQPubSocket::all_readers_updated() {
return msgq_all_readers_updated(q);
}
MSGQPubSocket::~MSGQPubSocket(){
if (q != NULL){
msgq_close_queue(q);
delete q;
}
}
void MSGQPoller::registerSocket(SubSocket * socket){
assert(num_polls + 1 < MAX_POLLERS);
polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
sockets.push_back(socket);
num_polls++;
}
std::vector<SubSocket*> MSGQPoller::poll(int timeout){
std::vector<SubSocket*> r;
msgq_poll(polls, num_polls, timeout);
for (size_t i = 0; i < num_polls; i++){
if (polls[i].revents){
r.push_back(sockets[i]);
}
}
return r;
}
cereal/messaging/impl_msgq.h
+65
View File
@@ -0,0 +1,65 @@
#pragma once
#include "messaging.h"
#include "msgq.h"
#include <zmq.h>
#include <string>
#define MAX_POLLERS 128
class MSGQContext : public Context {
private:
void * context = NULL;
public:
MSGQContext();
void * getRawContext() {return context;}
~MSGQContext();
};
class MSGQMessage : public Message {
private:
char * data;
size_t size;
public:
void init(size_t size);
void init(char *data, size_t size);
void takeOwnership(char *data, size_t size);
size_t getSize(){return size;}
char * getData(){return data;}
void close();
~MSGQMessage();
};
class MSGQSubSocket : public SubSocket {
private:
msgq_queue_t * q = NULL;
int timeout;
public:
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
void setTimeout(int timeout);
void * getRawSocket() {return (void*)q;}
Message *receive(bool non_blocking=false);
~MSGQSubSocket();
};
class MSGQPubSocket : public PubSocket {
private:
msgq_queue_t * q = NULL;
public:
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
int sendMessage(Message *message);
int send(char *data, size_t size);
bool all_readers_updated();
~MSGQPubSocket();
};
class MSGQPoller : public Poller {
private:
std::vector<SubSocket*> sockets;
msgq_pollitem_t polls[MAX_POLLERS];
size_t num_polls = 0;
public:
void registerSocket(SubSocket *socket);
std::vector<SubSocket*> poll(int timeout);
~MSGQPoller(){};
};
cereal/messaging/impl_zmq.cc
+168
View File
@@ -0,0 +1,168 @@
#include <cassert>
#include <cstring>
#include <iostream>
#include <cstdlib>
#include <cerrno>
#include <zmq.h>
#include "services.h"
#include "impl_zmq.h"
static int get_port(std::string endpoint) {
int port = -1;
for (const auto& it : services) {
std::string name = it.name;
if (name == endpoint) {
port = it.port;
break;
}
}
assert(port >= 0);
return port;
}
ZMQContext::ZMQContext() {
context = zmq_ctx_new();
}
ZMQContext::~ZMQContext() {
zmq_ctx_term(context);
}
void ZMQMessage::init(size_t sz) {
size = sz;
data = new char[size];
}
void ZMQMessage::init(char * d, size_t sz) {
size = sz;
data = new char[size];
memcpy(data, d, size);
}
void ZMQMessage::close() {
if (size > 0){
delete[] data;
}
size = 0;
}
ZMQMessage::~ZMQMessage() {
this->close();
}
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
if (sock == NULL){
return -1;
}
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
if (conflate){
int arg = 1;
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
}
int reconnect_ivl = 500;
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
full_endpoint = "tcp://" + address + ":";
if (check_endpoint){
full_endpoint += std::to_string(get_port(endpoint));
} else {
full_endpoint += endpoint;
}
return zmq_connect(sock, full_endpoint.c_str());
}
Message * ZMQSubSocket::receive(bool non_blocking){
zmq_msg_t msg;
assert(zmq_msg_init(&msg) == 0);
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
int rc = zmq_msg_recv(&msg, sock, flags);
Message *r = NULL;
if (rc >= 0){
// Make a copy to ensure the data is aligned
r = new ZMQMessage;
r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
}
zmq_msg_close(&msg);
return r;
}
void ZMQSubSocket::setTimeout(int timeout){
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
}
ZMQSubSocket::~ZMQSubSocket(){
zmq_close(sock);
}
int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
if (sock == NULL){
return -1;
}
full_endpoint = "tcp://*:";
if (check_endpoint){
full_endpoint += std::to_string(get_port(endpoint));
} else {
full_endpoint += endpoint;
}
return zmq_bind(sock, full_endpoint.c_str());
}
int ZMQPubSocket::sendMessage(Message *message){
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
}
int ZMQPubSocket::send(char *data, size_t size){
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
}
bool ZMQPubSocket::all_readers_updated() {
assert(false); // TODO not implemented
return false;
}
ZMQPubSocket::~ZMQPubSocket(){
zmq_close(sock);
}
void ZMQPoller::registerSocket(SubSocket * socket){
assert(num_polls + 1 < MAX_POLLERS);
polls[num_polls].socket = socket->getRawSocket();
polls[num_polls].events = ZMQ_POLLIN;
sockets.push_back(socket);
num_polls++;
}
std::vector<SubSocket*> ZMQPoller::poll(int timeout){
std::vector<SubSocket*> r;
int rc = zmq_poll(polls, num_polls, timeout);
if (rc < 0){
return r;
}
for (size_t i = 0; i < num_polls; i++){
if (polls[i].revents){
r.push_back(sockets[i]);
}
}
return r;
}
cereal/messaging/impl_zmq.h
+64
View File
@@ -0,0 +1,64 @@
#pragma once
#include "messaging.h"
#include <zmq.h>
#include <string>
#define MAX_POLLERS 128
class ZMQContext : public Context {
private:
void * context = NULL;
public:
ZMQContext();
void * getRawContext() {return context;}
~ZMQContext();
};
class ZMQMessage : public Message {
private:
char * data;
size_t size;
public:
void init(size_t size);
void init(char *data, size_t size);
size_t getSize(){return size;}
char * getData(){return data;}
void close();
~ZMQMessage();
};
class ZMQSubSocket : public SubSocket {
private:
void * sock;
std::string full_endpoint;
public:
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
void setTimeout(int timeout);
void * getRawSocket() {return sock;}
Message *receive(bool non_blocking=false);
~ZMQSubSocket();
};
class ZMQPubSocket : public PubSocket {
private:
void * sock;
std::string full_endpoint;
public:
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
int sendMessage(Message *message);
int send(char *data, size_t size);
bool all_readers_updated();
~ZMQPubSocket();
};
class ZMQPoller : public Poller {
private:
std::vector<SubSocket*> sockets;
zmq_pollitem_t polls[MAX_POLLERS];
size_t num_polls = 0;
public:
void registerSocket(SubSocket *socket);
std::vector<SubSocket*> poll(int timeout);
~ZMQPoller(){};
};
cereal/messaging/messaging.cc
+103
View File
@@ -0,0 +1,103 @@
#include "messaging.h"
#include "impl_zmq.h"
#include "impl_msgq.h"
#ifdef __APPLE__
const bool MUST_USE_ZMQ = true;
#else
const bool MUST_USE_ZMQ = false;
#endif
bool messaging_use_zmq(){
return std::getenv("ZMQ") || MUST_USE_ZMQ;
}
Context * Context::create(){
Context * c;
if (messaging_use_zmq()){
c = new ZMQContext();
} else {
c = new MSGQContext();
}
return c;
}
SubSocket * SubSocket::create(){
SubSocket * s;
if (messaging_use_zmq()){
s = new ZMQSubSocket();
} else {
s = new MSGQSubSocket();
}
return s;
}
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
SubSocket *s = SubSocket::create();
int r = s->connect(context, endpoint, address, conflate, check_endpoint);
if (r == 0) {
return s;
} else {
delete s;
return NULL;
}
}
PubSocket * PubSocket::create(){
PubSocket * s;
if (messaging_use_zmq()){
s = new ZMQPubSocket();
} else {
s = new MSGQPubSocket();
}
return s;
}
PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
PubSocket *s = PubSocket::create();
int r = s->connect(context, endpoint, check_endpoint);
if (r == 0) {
return s;
} else {
delete s;
return NULL;
}
}
Poller * Poller::create(){
Poller * p;
if (messaging_use_zmq()){
p = new ZMQPoller();
} else {
p = new MSGQPoller();
}
return p;
}
Poller * Poller::create(std::vector<SubSocket*> sockets){
Poller * p = Poller::create();
for (auto s : sockets){
p->registerSocket(s);
}
return p;
}
extern "C" Context * messaging_context_create() {
return Context::create();
}
extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
return SubSocket::create(context, std::string(endpoint));
}
extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
return PubSocket::create(context, std::string(endpoint));
}
extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
std::vector<SubSocket*> socketsVec(sockets, sockets + size);
return Poller::create(socketsVec);
}
cereal/messaging/messaging.h
+145
View File
@@ -0,0 +1,145 @@
#pragma once
#include <cstddef>
#include <map>
#include <string>
#include <vector>
#include <capnp/serialize.h>
#include "../gen/cpp/log.capnp.h"
#ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
#endif
#define MSG_MULTIPLE_PUBLISHERS 100
bool messaging_use_zmq();
class Context {
public:
virtual void * getRawContext() = 0;
static Context * create();
virtual ~Context(){};
};
class Message {
public:
virtual void init(size_t size) = 0;
virtual void init(char * data, size_t size) = 0;
virtual void close() = 0;
virtual size_t getSize() = 0;
virtual char * getData() = 0;
virtual ~Message(){};
};
class SubSocket {
public:
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
virtual void setTimeout(int timeout) = 0;
virtual Message *receive(bool non_blocking=false) = 0;
virtual void * getRawSocket() = 0;
static SubSocket * create();
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
virtual ~SubSocket(){};
};
class PubSocket {
public:
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
virtual int sendMessage(Message *message) = 0;
virtual int send(char *data, size_t size) = 0;
virtual bool all_readers_updated() = 0;
static PubSocket * create();
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
virtual ~PubSocket(){};
};
class Poller {
public:
virtual void registerSocket(SubSocket *socket) = 0;
virtual std::vector<SubSocket*> poll(int timeout) = 0;
static Poller * create();
static Poller * create(std::vector<SubSocket*> sockets);
virtual ~Poller(){};
};
class SubMaster {
public:
SubMaster(const std::vector<const char *> &service_list,
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
void update(int timeout = 1000);
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
void drain();
~SubMaster();
uint64_t frame = 0;
bool updated(const char *name) const;
bool alive(const char *name) const;
bool valid(const char *name) const;
uint64_t rcv_frame(const char *name) const;
uint64_t rcv_time(const char *name) const;
cereal::Event::Reader &operator[](const char *name) const;
private:
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
Poller *poller_ = nullptr;
struct SubMessage;
std::map<SubSocket *, SubMessage *> messages_;
std::map<std::string, SubMessage *> services_;
};
class MessageBuilder : public capnp::MallocMessageBuilder {
public:
MessageBuilder() = default;
cereal::Event::Builder initEvent(bool valid = true) {
cereal::Event::Builder event = initRoot<cereal::Event>();
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
event.setLogMonoTime(current_time);
event.setValid(valid);
return event;
}
kj::ArrayPtr<capnp::byte> toBytes() {
heapArray_ = capnp::messageToFlatArray(*this);
return heapArray_.asBytes();
}
private:
kj::Array<capnp::word> heapArray_;
};
class PubMaster {
public:
PubMaster(const std::vector<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, MessageBuilder &msg);
~PubMaster();
private:
std::map<std::string, PubSocket *> sockets_;
};
class AlignedBuffer {
public:
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
words_size = size / sizeof(capnp::word) + 1;
if (aligned_buf.size() < words_size) {
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
}
memcpy(aligned_buf.begin(), data, size);
return aligned_buf.slice(0, words_size);
}
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
return align(m->getData(), m->getSize());
}
private:
kj::Array<capnp::word> aligned_buf;
size_t words_size;
};
cereal/messaging/messaging.pxd
+40
View File
@@ -0,0 +1,40 @@
# distutils: language = c++
#cython: language_level=3
from libcpp.string cimport string
from libcpp.vector cimport vector
from libcpp cimport bool
cdef extern from "messaging.h":
cdef cppclass Context:
@staticmethod
Context * create()
cdef cppclass Message:
void init(size_t)
void init(char *, size_t)
void close()
size_t getSize()
char *getData()
cdef cppclass SubSocket:
@staticmethod
SubSocket * create()
int connect(Context *, string, string, bool)
Message * receive(bool)
void setTimeout(int)
cdef cppclass PubSocket:
@staticmethod
PubSocket * create()
int connect(Context *, string)
int sendMessage(Message *)
int send(char *, size_t)
bool all_readers_updated()
cdef cppclass Poller:
@staticmethod
Poller * create()
void registerSocket(SubSocket *)
vector[SubSocket*] poll(int) nogil
cereal/messaging/messaging_pyx.cpp
+7082
View File
File diff suppressed because it is too large Load Diff
cereal/messaging/messaging_pyx.pyx
+154
View File
@@ -0,0 +1,154 @@
# distutils: language = c++
# cython: c_string_encoding=ascii, language_level=3
import sys
from libcpp.string cimport string
from libcpp cimport bool
from libc cimport errno
from .messaging cimport Context as cppContext
from .messaging cimport SubSocket as cppSubSocket
from .messaging cimport PubSocket as cppPubSocket
from .messaging cimport Poller as cppPoller
from .messaging cimport Message as cppMessage
class MessagingError(Exception):
pass
class MultiplePublishersError(MessagingError):
pass
cdef class Context:
cdef cppContext * context
def __cinit__(self):
self.context = cppContext.create()
def term(self):
del self.context
self.context = NULL
def __dealloc__(self):
pass
# Deleting the context will hang if sockets are still active
# TODO: Figure out a way to make sure the context is closed last
# del self.context
cdef class Poller:
cdef cppPoller * poller
cdef list sub_sockets
def __cinit__(self):
self.sub_sockets = []
self.poller = cppPoller.create()
def __dealloc__(self):
del self.poller
def registerSocket(self, SubSocket socket):
self.sub_sockets.append(socket)
self.poller.registerSocket(socket.socket)
def poll(self, timeout):
sockets = []
cdef int t = timeout
with nogil:
result = self.poller.poll(t)
for s in result:
socket = SubSocket()
socket.setPtr(s)
sockets.append(socket)
return sockets
cdef class SubSocket:
cdef cppSubSocket * socket
cdef bool is_owner
def __cinit__(self):
self.socket = cppSubSocket.create()
self.is_owner = True
if self.socket == NULL:
raise MessagingError
def __dealloc__(self):
if self.is_owner:
del self.socket
cdef setPtr(self, cppSubSocket * ptr):
if self.is_owner:
del self.socket
self.is_owner = False
self.socket = ptr
def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
r = self.socket.connect(context.context, endpoint, address, conflate)
if r != 0:
if errno.errno == errno.EADDRINUSE:
raise MultiplePublishersError
else:
raise MessagingError
def setTimeout(self, int timeout):
self.socket.setTimeout(timeout)
def receive(self, bool non_blocking=False):
msg = self.socket.receive(non_blocking)
if msg == NULL:
# If a blocking read returns no message check errno if SIGINT was caught in the C++ code
if errno.errno == errno.EINTR:
print("SIGINT received, exiting")
sys.exit(1)
return None
else:
sz = msg.getSize()
m = msg.getData()[:sz]
del msg
return m
cdef class PubSocket:
cdef cppPubSocket * socket
def __cinit__(self):
self.socket = cppPubSocket.create()
if self.socket == NULL:
raise MessagingError
def __dealloc__(self):
del self.socket
def connect(self, Context context, string endpoint):
r = self.socket.connect(context.context, endpoint)
if r != 0:
if errno.errno == errno.EADDRINUSE:
raise MultiplePublishersError
else:
raise MessagingError
def send(self, bytes data):
length = len(data)
r = self.socket.send(<char*>data, length)
if r != length:
if errno.errno == errno.EADDRINUSE:
raise MultiplePublishersError
else:
raise MessagingError
def all_readers_updated(self):
return self.socket.all_readers_updated()
cereal/messaging/messaging_pyx.so
Executable
BIN
View File
Binary file not shown.
cereal/messaging/msgq.cc
+464
View File
@@ -0,0 +1,464 @@
#include <iostream>
#include <cassert>
#include <cerrno>
#include <cmath>
#include <cstring>
#include <cstdint>
#include <chrono>
#include <algorithm>
#include <cstdlib>
#include <csignal>
#include <random>
#include <poll.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/syscall.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include "msgq.h"
void sigusr2_handler(int signal) {
assert(signal == SIGUSR2);
}
uint64_t msgq_get_uid(void){
std::random_device rd("/dev/urandom");
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
#ifdef __APPLE__
// TODO: this doesn't work
uint64_t uid = distribution(rd) << 32 | getpid();
#else
uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
#endif
return uid;
}
int msgq_msg_init_size(msgq_msg_t * msg, size_t size){
msg->size = size;
msg->data = new(std::nothrow) char[size];
return (msg->data == NULL) ? -1 : 0;
}
int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) {
int r = msgq_msg_init_size(msg, size);
if (r == 0)
memcpy(msg->data, data, size);
return r;
}
int msgq_msg_close(msgq_msg_t * msg){
if (msg->size > 0)
delete[] msg->data;
msg->size = 0;
return 0;
}
void msgq_reset_reader(msgq_queue_t * q){
int id = q->reader_id;
q->read_valids[id]->store(true);
q->read_pointers[id]->store(*q->write_pointer);
}
void msgq_wait_for_subscriber(msgq_queue_t *q){
while (*q->num_readers == 0){
;
}
return;
}
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
std::signal(SIGUSR2, sigusr2_handler);
const char * prefix = "/dev/shm/";
char * full_path = new char[strlen(path) + strlen(prefix) + 1];
strcpy(full_path, prefix);
strcat(full_path, path);
auto fd = open(full_path, O_RDWR | O_CREAT, 0664);
if (fd < 0) {
std::cout << "Warning, could not open: " << full_path << std::endl;
delete[] full_path;
return -1;
}
delete[] full_path;
int rc = ftruncate(fd, size + sizeof(msgq_header_t));
if (rc < 0){
close(fd);
return -1;
}
char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
close(fd);
if (mem == NULL){
return -1;
}
q->mmap_p = mem;
msgq_header_t *header = (msgq_header_t *)mem;
// Setup pointers to header segment
q->num_readers = reinterpret_cast<std::atomic<uint64_t>*>(&header->num_readers);
q->write_pointer = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_pointer);
q->write_uid = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_uid);
for (size_t i = 0; i < NUM_READERS; i++){
q->read_pointers[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_pointers[i]);
q->read_valids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_valids[i]);
q->read_uids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_uids[i]);
}
q->data = mem + sizeof(msgq_header_t);
q->size = size;
q->reader_id = -1;
q->endpoint = path;
q->read_conflate = false;
return 0;
}
void msgq_close_queue(msgq_queue_t *q){
if (q->mmap_p != NULL){
munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
}
}
void msgq_init_publisher(msgq_queue_t * q) {
//std::cout << "Starting publisher" << std::endl;
uint64_t uid = msgq_get_uid();
*q->write_uid = uid;
*q->num_readers = 0;
for (size_t i = 0; i < NUM_READERS; i++){
*q->read_valids[i] = false;
*q->read_uids[i] = 0;
}
q->write_uid_local = uid;
}
static void thread_signal(uint32_t tid) {
#ifndef SYS_tkill
// TODO: this won't work for multithreaded programs
kill(tid, SIGUSR2);
#else
syscall(SYS_tkill, tid, SIGUSR2);
#endif
}
void msgq_init_subscriber(msgq_queue_t * q) {
assert(q != NULL);
assert(q->num_readers != NULL);
uint64_t uid = msgq_get_uid();
// Get reader id
while (true){
uint64_t cur_num_readers = *q->num_readers;
uint64_t new_num_readers = cur_num_readers + 1;
// No more slots available. Reset all subscribers to kick out inactive ones
if (new_num_readers > NUM_READERS){
std::cout << "Warning, evicting all subscribers!" << std::endl;
*q->num_readers = 0;
for (size_t i = 0; i < NUM_READERS; i++){
*q->read_valids[i] = false;
uint64_t old_uid = *q->read_uids[i];
*q->read_uids[i] = 0;
// Wake up reader in case they are in a poll
thread_signal(old_uid & 0xFFFFFFFF);
}
continue;
}
// Use atomic compare and swap to handle race condition
// where two subscribers start at the same time
if (std::atomic_compare_exchange_strong(q->num_readers,
&cur_num_readers,
new_num_readers)){
q->reader_id = cur_num_readers;
q->read_uid_local = uid;
// We start with read_valid = false,
// on the first read the read pointer will be synchronized with the write pointer
*q->read_valids[cur_num_readers] = false;
*q->read_pointers[cur_num_readers] = 0;
*q->read_uids[cur_num_readers] = uid;
break;
}
}
//std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
msgq_reset_reader(q);
}
int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
// Die if we are no longer the active publisher
if (q->write_uid_local != *q->write_uid){
std::cout << "Killing old publisher: " << q->endpoint << std::endl;
errno = EADDRINUSE;
return -1;
}
uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t));
// We need to fit at least three messages in the queue,
// then we can always safely access the last message
assert(3 * total_msg_size <= q->size);
uint64_t num_readers = *q->num_readers;
uint32_t write_cycles, write_pointer;
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
char *p = q->data + write_pointer; // add base offset
// Check remaining space
// Always leave space for a wraparound tag for the next message, including alignment
int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t);
if (remaining_space <= 0){
// Write -1 size tag indicating wraparound
*(int64_t*)p = -1;
// Invalidate all readers that are beyond the write pointer
// TODO: should we handle the case where a new reader shows up while this is running?
for (uint64_t i = 0; i < num_readers; i++){
uint64_t read_pointer = *q->read_pointers[i];
uint64_t read_cycles = read_pointer >> 32;
read_pointer &= 0xFFFFFFFF;
if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) {
*q->read_valids[i] = false;
}
}
// Update global and local copies of write pointer and write_cycles
write_pointer = 0;
write_cycles = write_cycles + 1;
PACK64(*q->write_pointer, write_cycles, write_pointer);
// Set actual pointer to the beginning of the data segment
p = q->data;
}
// Invalidate readers that are in the area that will be written
uint64_t start = write_pointer;
uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size);
for (uint64_t i = 0; i < num_readers; i++){
uint32_t read_cycles, read_pointer;
UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]);
if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) {
*q->read_valids[i] = false;
}
}
// Write size tag
std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
*size_p = msg->size;
// Copy data
memcpy(p + sizeof(int64_t), msg->data, msg->size);
__sync_synchronize();
// Update write pointer
uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t));
PACK64(*q->write_pointer, write_cycles, new_ptr);
// Notify readers
for (uint64_t i = 0; i < num_readers; i++){
uint64_t reader_uid = *q->read_uids[i];
thread_signal(reader_uid & 0xFFFFFFFF);
}
return msg->size;
}
int msgq_msg_ready(msgq_queue_t * q){
start:
int id = q->reader_id;
assert(id >= 0); // Make sure subscriber is initialized
if (q->read_uid_local != *q->read_uids[id]){
std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
msgq_init_subscriber(q);
goto start;
}
// Check valid
if (!*q->read_valids[id]){
msgq_reset_reader(q);
goto start;
}
uint32_t read_cycles, read_pointer;
UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
uint32_t write_cycles, write_pointer;
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
// Check if new message is available
return (read_pointer != write_pointer);
}
int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
start:
int id = q->reader_id;
assert(id >= 0); // Make sure subscriber is initialized
if (q->read_uid_local != *q->read_uids[id]){
std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
msgq_init_subscriber(q);
goto start;
}
// Check valid
if (!*q->read_valids[id]){
msgq_reset_reader(q);
goto start;
}
uint32_t read_cycles, read_pointer;
UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
uint32_t write_cycles, write_pointer;
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
char * p = q->data + read_pointer;
// Check if new message is available
if (read_pointer == write_pointer) {
msg->size = 0;
return 0;
}
// Read potential message size
std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
std::int64_t size = *size_p;
// Check if the size that was read is valid
if (!*q->read_valids[id]){
msgq_reset_reader(q);
goto start;
}
// If size is -1 the buffer was full, and we need to wrap around
if (size == -1){
read_cycles++;
PACK64(*q->read_pointers[id], read_cycles, 0);
goto start;
}
// crashing is better than passing garbage data to the consumer
// the size will have weird value if it was overwritten by data accidentally
assert((uint64_t)size < q->size);
assert(size > 0);
uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size);
// If conflate is true, check if this is the latest message, else start over
if (q->read_conflate){
if (new_read_pointer != write_pointer){
// Update read pointer
PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
goto start;
}
}
// Copy message
if (msgq_msg_init_size(msg, size) < 0)
return -1;
__sync_synchronize();
memcpy(msg->data, p + sizeof(int64_t), size);
__sync_synchronize();
// Update read pointer
PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
// Check if the actual data that was copied is valid
if (!*q->read_valids[id]){
msgq_msg_close(msg);
msgq_reset_reader(q);
goto start;
}
return msg->size;
}
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
int num = 0;
// Check if messages ready
for (size_t i = 0; i < nitems; i++) {
items[i].revents = msgq_msg_ready(items[i].q);
if (items[i].revents) num++;
}
int ms = (timeout == -1) ? 100 : timeout;
struct timespec ts;
ts.tv_sec = ms / 1000;
ts.tv_nsec = (ms % 1000) * 1000 * 1000;
while (num == 0) {
int ret;
ret = nanosleep(&ts, &ts);
// Check if messages ready
for (size_t i = 0; i < nitems; i++) {
if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
num += 1;
items[i].revents = 1;
}
}
// exit if we had a timeout and the sleep finished
if (timeout != -1 && ret == 0){
break;
}
}
return num;
}
bool msgq_all_readers_updated(msgq_queue_t *q) {
uint64_t num_readers = *q->num_readers;
for (uint64_t i = 0; i < num_readers; i++) {
if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
return false;
}
}
return num_readers > 0;
}
cereal/messaging/msgq.h
+68
View File
@@ -0,0 +1,68 @@
#pragma once
#include <cstdint>
#include <cstring>
#include <string>
#include <atomic>
#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
#define NUM_READERS 10
#define ALIGN(n) ((n + (8 - 1)) & -8)
#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
struct msgq_header_t {
uint64_t num_readers;
uint64_t write_pointer;
uint64_t write_uid;
uint64_t read_pointers[NUM_READERS];
uint64_t read_valids[NUM_READERS];
uint64_t read_uids[NUM_READERS];
};
struct msgq_queue_t {
std::atomic<uint64_t> *num_readers;
std::atomic<uint64_t> *write_pointer;
std::atomic<uint64_t> *write_uid;
std::atomic<uint64_t> *read_pointers[NUM_READERS];
std::atomic<uint64_t> *read_valids[NUM_READERS];
std::atomic<uint64_t> *read_uids[NUM_READERS];
char * mmap_p;
char * data;
size_t size;
int reader_id;
uint64_t read_uid_local;
uint64_t write_uid_local;
bool read_conflate;
std::string endpoint;
};
struct msgq_msg_t {
size_t size;
char * data;
};
struct msgq_pollitem_t {
msgq_queue_t *q;
int revents;
};
void msgq_wait_for_subscriber(msgq_queue_t *q);
void msgq_reset_reader(msgq_queue_t *q);
int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
int msgq_msg_close(msgq_msg_t *msg);
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
void msgq_close_queue(msgq_queue_t *q);
void msgq_init_publisher(msgq_queue_t * q);
void msgq_init_subscriber(msgq_queue_t * q);
int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
int msgq_msg_ready(msgq_queue_t * q);
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
bool msgq_all_readers_updated(msgq_queue_t *q);
cereal/messaging/socketmaster.cc
+205
View File
@@ -0,0 +1,205 @@
#include <time.h>
#include <assert.h>
#include <stdlib.h>
#include <string>
#include <mutex>
#include "services.h"
#include "messaging.h"
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
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::vector<const char *> &list, const char *value) {
for (auto &v : list) {
if (strcmp(value, v) == 0) return true;
}
return false;
}
class MessageContext {
public:
MessageContext() : ctx_(nullptr) {};
~MessageContext() { delete ctx_; }
inline Context *context() {
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
return ctx_;
}
private:
Context *ctx_;
std::once_flag init_flag;
};
MessageContext message_context;
struct SubMaster::SubMessage {
std::string name;
SubSocket *socket = nullptr;
int freq = 0;
bool updated = false, alive = false, valid = true, ignore_alive;
uint64_t rcv_time = 0, rcv_frame = 0;
void *allocated_msg_reader = nullptr;
capnp::FlatArrayMessageReader *msg_reader = nullptr;
AlignedBuffer aligned_buf;
cereal::Event::Reader event;
};
SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
const std::vector<const char *> &ignore_alive) {
poller_ = Poller::create();
for (auto name : service_list) {
const service *serv = get_service(name);
assert(serv != nullptr);
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
assert(socket != 0);
poller_->registerSocket(socket);
SubMessage *m = new SubMessage{
.name = name,
.socket = socket,
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
messages_[socket] = m;
services_[name] = m;
}
}
void SubMaster::update(int timeout) {
for (auto &kv : messages_) kv.second->updated = false;
auto sockets = poller_->poll(timeout);
uint64_t current_time = nanos_since_boot();
std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
for (auto s : sockets) {
Message *msg = s->receive(true);
if (msg == nullptr) continue;
SubMessage *m = messages_.at(s);
m->msg_reader->~FlatArrayMessageReader();
capnp::ReaderOptions options;
options.traversalLimitInWords = kj::maxValue; // Don't limit
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
delete msg;
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
}
update_msgs(current_time, messages);
}
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
if (++frame == UINT64_MAX) frame = 1;
for(auto &kv : messages) {
auto m_find = services_.find(kv.first);
if (m_find == services_.end()){
continue;
}
SubMessage *m = m_find->second;
m->event = kv.second;
m->updated = true;
m->rcv_time = current_time;
m->rcv_frame = frame;
m->valid = m->event.getValid();
if (SIMULATION) m->alive = true;
}
if (!SIMULATION) {
for (auto &kv : messages_) {
SubMessage *m = kv.second;
m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
}
}
}
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
int found = 0;
for (auto &kv : messages_) {
SubMessage *m = kv.second;
if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
}
}
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
}
void SubMaster::drain() {
while (true) {
auto polls = poller_->poll(0);
if (polls.size() == 0)
break;
for (auto sock : polls) {
Message *msg = sock->receive(true);
delete msg;
}
}
}
bool SubMaster::updated(const char *name) const {
return services_.at(name)->updated;
}
bool SubMaster::alive(const char *name) const {
return services_.at(name)->alive;
}
bool SubMaster::valid(const char *name) const {
return services_.at(name)->valid;
}
uint64_t SubMaster::rcv_frame(const char *name) const {
return services_.at(name)->rcv_frame;
}
uint64_t SubMaster::rcv_time(const char *name) const {
return services_.at(name)->rcv_time;
}
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
return services_.at(name)->event;
};
SubMaster::~SubMaster() {
delete poller_;
for (auto &kv : messages_) {
SubMessage *m = kv.second;
m->msg_reader->~FlatArrayMessageReader();
free(m->allocated_msg_reader);
delete m->socket;
delete m;
}
}
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
for (auto name : service_list) {
assert(get_service(name) != nullptr);
PubSocket *socket = PubSocket::create(message_context.context(), name);
assert(socket);
sockets_[name] = socket;
}
}
int PubMaster::send(const char *name, MessageBuilder &msg) {
auto bytes = msg.toBytes();
return send(name, bytes.begin(), bytes.size());
}
PubMaster::~PubMaster() {
for (auto s : sockets_) delete s.second;
}
cereal/services.h
+52
View File
@@ -0,0 +1,52 @@
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
#ifndef __SERVICES_H
#define __SERVICES_H
struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
static struct service services[] = {
{ "sensorEvents", 8001, true, 100, 100 },
{ "gpsNMEA", 8002, true, 9, -1 },
{ "deviceState", 8003, true, 2, 1 },
{ "can", 8004, true, 100, -1 },
{ "controlsState", 8005, true, 100, 10 },
{ "pandaStates", 8006, true, 2, 1 },
{ "peripheralState", 8007, true, 2, 1 },
{ "radarState", 8008, true, 20, 5 },
{ "roadEncodeIdx", 8009, true, 20, 1 },
{ "liveTracks", 8010, true, 20, -1 },
{ "sendcan", 8011, true, 100, 139 },
{ "logMessage", 8012, true, 0, -1 },
{ "errorLogMessage", 8013, true, 0, 1 },
{ "liveCalibration", 8014, true, 4, 4 },
{ "androidLog", 8015, true, 0, -1 },
{ "carState", 8016, true, 100, 10 },
{ "carControl", 8017, true, 100, 10 },
{ "longitudinalPlan", 8018, true, 20, 5 },
{ "procLog", 8019, true, 0, -1 },
{ "gpsLocationExternal", 8020, true, 10, 10 },
{ "ubloxGnss", 8021, true, 10, -1 },
{ "clocks", 8023, true, 1, 1 },
{ "ubloxRaw", 8024, true, 20, -1 },
{ "liveLocationKalman", 8025, true, 20, 5 },
{ "liveParameters", 8026, true, 20, 5 },
{ "cameraOdometry", 8027, true, 20, 5 },
{ "lateralPlan", 8028, true, 20, 5 },
{ "thumbnail", 8029, true, 0, 1 },
{ "carEvents", 8030, true, 1, 1 },
{ "carParams", 8031, true, 0, 1 },
{ "roadCameraState", 8032, true, 20, 20 },
{ "driverCameraState", 8033, true, 10, 10 },
{ "driverEncodeIdx", 8034, true, 10, 1 },
{ "driverState", 8035, true, 10, 5 },
{ "driverMonitoringState", 8036, true, 10, 5 },
{ "wideRoadEncodeIdx", 8037, true, 20, 1 },
{ "wideRoadCameraState", 8038, true, 20, 20 },
{ "modelV2", 8039, true, 20, 40 },
{ "managerState", 8040, true, 2, 1 },
{ "uploaderState", 8041, true, 0, 1 },
{ "navInstruction", 8042, true, 0, -1 },
{ "navRoute", 8043, true, 0, -1 },
{ "navThumbnail", 8044, true, 0, -1 },
{ "testJoystick", 8045, false, 0, -1 },
};
#endif
cereal/services.py
Executable
+95
View File
@@ -0,0 +1,95 @@
#!/usr/bin/env python3
import os
from typing import Optional
TICI = os.path.isfile('/TICI')
RESERVED_PORT = 8022 # sshd
STARTING_PORT = 8001
def new_port(port: int):
port += STARTING_PORT
return port + 1 if port >= RESERVED_PORT else port
class Service:
def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
self.port = port
self.should_log = should_log
self.frequency = frequency
self.decimation = decimation
DCAM_FREQ = 10. if not TICI else 20.
services = {
# service: (should_log, frequency, qlog decimation (optional))
"sensorEvents": (True, 100., 100),
"gpsNMEA": (True, 9.),
"deviceState": (True, 2., 1),
"can": (True, 100.),
"controlsState": (True, 100., 10),
"pandaStates": (True, 2., 1),
"peripheralState": (True, 2., 1),
"radarState": (True, 20., 5),
"roadEncodeIdx": (True, 20., 1),
"liveTracks": (True, 20.),
"sendcan": (True, 100., 139),
"logMessage": (True, 0.),
"errorLogMessage": (True, 0., 1),
"liveCalibration": (True, 4., 4),
"androidLog": (True, 0.),
"carState": (True, 100., 10),
"carControl": (True, 100., 10),
"longitudinalPlan": (True, 20., 5),
"procLog": (True, 0.5),
"gpsLocationExternal": (True, 10., 10),
"ubloxGnss": (True, 10.),
"clocks": (True, 1., 1),
"ubloxRaw": (True, 20.),
"liveLocationKalman": (True, 20., 5),
"liveParameters": (True, 20., 5),
"cameraOdometry": (True, 20., 5),
"lateralPlan": (True, 20., 5),
"thumbnail": (True, 0.2, 1),
"carEvents": (True, 1., 1),
"carParams": (True, 0.02, 1),
"roadCameraState": (True, 20., 20),
"driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
"driverEncodeIdx": (True, DCAM_FREQ, 1),
"driverState": (True, DCAM_FREQ, DCAM_FREQ / 2),
"driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
"wideRoadEncodeIdx": (True, 20., 1),
"wideRoadCameraState": (True, 20., 20),
"modelV2": (True, 20., 40),
"managerState": (True, 2., 1),
"uploaderState": (True, 0., 1),
"navInstruction": (True, 0.),
"navRoute": (True, 0.),
"navThumbnail": (True, 0.),
# debug
"testJoystick": (False, 0.),
}
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
idx, (name, vals) in enumerate(services.items())}
def build_header():
h = ""
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
h += "#ifndef __SERVICES_H\n"
h += "#define __SERVICES_H\n"
h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
h += "static struct service services[] = {\n"
for k, v in service_list.items():
should_log = "true" if v.should_log else "false"
decimation = -1 if v.decimation is None else v.decimation
h += ' { "%s", %d, %s, %d, %d },\n' % \
(k, v.port, should_log, v.frequency, decimation)
h += "};\n"
h += "#endif\n"
return h
if __name__ == "__main__":
print(build_header())
cereal/visionipc/.gitignore
+2
View File
@@ -0,0 +1,2 @@
visionipc_pyx.cpp
*.so
cereal/visionipc/__init__.py
View File
cereal/visionipc/ipc.cc
+121
View File
@@ -0,0 +1,121 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <assert.h>
#include <errno.h>
#include <sys/mman.h>
#include <sys/socket.h>
#include <sys/un.h>
#ifdef __APPLE__
#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
#else
#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
#endif
#include "ipc.h"
int ipc_connect(const char* socket_path) {
int err;
int sock = getsocket();
if (sock < 0) return -1;
struct sockaddr_un addr = {
.sun_family = AF_UNIX,
};
snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
if (err != 0) {
close(sock);
return -1;
}
return sock;
}
int ipc_bind(const char* socket_path) {
int err;
unlink(socket_path);
int sock = getsocket();
struct sockaddr_un addr = {
.sun_family = AF_UNIX,
};
snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
assert(err == 0);
err = listen(sock, 3);
assert(err == 0);
return sock;
}
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
int *out_num_fds) {
char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
struct iovec iov = {
.iov_base = buf,
.iov_len = buf_size,
};
struct msghdr msg = {
.msg_iov = &iov,
.msg_iovlen = 1,
};
if (num_fds > 0) {
assert(fds);
msg.msg_control = control_buf;
msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
}
if (send) {
if (num_fds) {
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
assert(cmsg);
cmsg->cmsg_level = SOL_SOCKET;
cmsg->cmsg_type = SCM_RIGHTS;
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
}
return sendmsg(fd, &msg, 0);
} else {
int r = recvmsg(fd, &msg, 0);
if (r < 0) return r;
int recv_fds = 0;
if (msg.msg_controllen > 0) {
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
assert(cmsg);
assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
recv_fds /= sizeof(int);
assert(fds && recv_fds <= num_fds);
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
}
if (msg.msg_flags) {
for (int i=0; i<recv_fds; i++) {
close(fds[i]);
}
return -1;
}
if (fds) {
assert(out_num_fds);
*out_num_fds = recv_fds;
}
return r;
}
}
cereal/visionipc/ipc.h
+7
View File
@@ -0,0 +1,7 @@
#pragma once
#include <cstddef>
int ipc_connect(const char* socket_path);
int ipc_bind(const char* socket_path);
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
int *out_num_fds);
cereal/visionipc/test_runner.cc
+2
View File
@@ -0,0 +1,2 @@
#define CATCH_CONFIG_MAIN
#include "catch2/catch.hpp"
cereal/visionipc/visionbuf.cc
+49
View File
@@ -0,0 +1,49 @@
#include "visionbuf.h"
#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
#ifdef QCOM
// from libadreno_utils.so
extern "C" void compute_aligned_width_and_height(int width,
int height,
int bpp,
int tile_mode,
int raster_mode,
int padding_threshold,
int *aligned_w,
int *aligned_h);
#endif
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
#ifdef QCOM
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
#else
*aligned_w = width; *aligned_h = height;
#endif
}
void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
this->rgb = true;
this->width = init_width;
this->height = init_height;
this->stride = init_stride;
}
void VisionBuf::init_yuv(size_t init_width, size_t init_height){
this->rgb = false;
this->width = init_width;
this->height = init_height;
this->y = (uint8_t *)this->addr;
this->u = this->y + (this->width * this->height);
this->v = this->u + (this->width / 2 * this->height / 2);
}
uint64_t VisionBuf::get_frame_id() {
return *frame_id;
}
void VisionBuf::set_frame_id(uint64_t id) {
*frame_id = id;
}
cereal/visionipc/visionbuf.h
+67
View File
@@ -0,0 +1,67 @@
#pragma once
#include "visionipc.h"
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#define VISIONBUF_SYNC_FROM_DEVICE 0
#define VISIONBUF_SYNC_TO_DEVICE 1
enum VisionStreamType {
VISION_STREAM_RGB_BACK,
VISION_STREAM_RGB_FRONT,
VISION_STREAM_RGB_WIDE,
VISION_STREAM_ROAD,
VISION_STREAM_DRIVER,
VISION_STREAM_WIDE_ROAD,
VISION_STREAM_RGB_MAP,
VISION_STREAM_MAX,
};
class VisionBuf {
public:
size_t len = 0;
size_t mmap_len = 0;
void * addr = nullptr;
uint64_t *frame_id;
int fd = 0;
bool rgb = false;
size_t width = 0;
size_t height = 0;
size_t stride = 0;
// YUV
uint8_t * y = nullptr;
uint8_t * u = nullptr;
uint8_t * v = nullptr;
// Visionipc
uint64_t server_id = 0;
size_t idx = 0;
VisionStreamType type;
// OpenCL
cl_mem buf_cl = nullptr;
cl_command_queue copy_q = nullptr;
// ion
int handle = 0;
void allocate(size_t len);
void import();
void init_cl(cl_device_id device_id, cl_context ctx);
void init_rgb(size_t width, size_t height, size_t stride);
void init_yuv(size_t width, size_t height);
int sync(int dir);
int free();
void set_frame_id(uint64_t id);
uint64_t get_frame_id();
};
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
cereal/visionipc/visionbuf_cl.cc
+94
View File
@@ -0,0 +1,94 @@
#include "visionbuf.h"
#include <atomic>
#include <stdio.h>
#include <fcntl.h>
#include <assert.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/mman.h>
#include <sys/types.h>
std::atomic<int> offset = 0;
static void *malloc_with_fd(size_t len, int *fd) {
char full_path[0x100];
#ifdef __APPLE__
snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
#else
snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
#endif
*fd = open(full_path, O_RDWR | O_CREAT, 0664);
assert(*fd >= 0);
unlink(full_path);
ftruncate(*fd, len);
void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
assert(addr != MAP_FAILED);
return addr;
}
void VisionBuf::allocate(size_t length) {
this->len = length;
this->mmap_len = this->len;
this->addr = malloc_with_fd(this->len, &this->fd);
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
}
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
int err;
this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
assert(err == 0);
this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
assert(err == 0);
}
void VisionBuf::import(){
assert(this->fd >= 0);
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
assert(this->addr != MAP_FAILED);
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
}
int VisionBuf::sync(int dir) {
int err = 0;
if (!this->buf_cl) return 0;
if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
} else {
err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
}
if (err == 0){
err = clFinish(this->copy_q);
}
return err;
}
int VisionBuf::free() {
int err = 0;
if (this->buf_cl){
err = clReleaseMemObject(this->buf_cl);
if (err != 0) return err;
err = clReleaseCommandQueue(this->copy_q);
if (err != 0) return err;
}
err = munmap(this->addr, this->len);
if (err != 0) return err;
err = close(this->fd);
return err;
}
cereal/visionipc/visionbuf_ion.cc
+158
View File
@@ -0,0 +1,158 @@
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <assert.h>
#include <errno.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <linux/ion.h>
#include <CL/cl_ext.h>
#include <msm_ion.h>
#include "visionbuf.h"
// keep trying if x gets interrupted by a signal
#define HANDLE_EINTR(x) \
({ \
decltype(x) ret; \
int try_cnt = 0; \
do { \
ret = (x); \
} while (ret == -1 && errno == EINTR && try_cnt++ < 100); \
ret; \
})
// just hard-code these for convenience
// size_t device_page_size = 0;
// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM,
// sizeof(device_page_size), &device_page_size,
// NULL);
// size_t padding_cl = 0;
// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM,
// sizeof(padding_cl), &padding_cl,
// NULL);
#define DEVICE_PAGE_SIZE_CL 4096
#define PADDING_CL 0
static int ion_fd = -1;
static void ion_init() {
if (ion_fd == -1) {
ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
}
}
void VisionBuf::allocate(size_t length) {
int err;
ion_init();
struct ion_allocation_data ion_alloc = {0};
ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
ion_alloc.align = 4096;
ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
ion_alloc.flags = ION_FLAG_CACHED;
err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc));
assert(err == 0);
struct ion_fd_data ion_fd_data = {0};
ion_fd_data.handle = ion_alloc.handle;
err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
assert(err == 0);
void *mmap_addr = mmap(NULL, ion_alloc.len,
PROT_READ | PROT_WRITE,
MAP_SHARED, ion_fd_data.fd, 0);
assert(mmap_addr != MAP_FAILED);
memset(mmap_addr, 0, ion_alloc.len);
this->len = length;
this->mmap_len = ion_alloc.len;
this->addr = mmap_addr;
this->handle = ion_alloc.handle;
this->fd = ion_fd_data.fd;
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
}
void VisionBuf::import(){
int err;
assert(this->fd >= 0);
ion_init();
// Get handle
struct ion_fd_data fd_data = {0};
fd_data.fd = this->fd;
err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_IMPORT, &fd_data));
assert(err == 0);
this->handle = fd_data.handle;
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
assert(this->addr != MAP_FAILED);
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
}
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
int err;
assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
cl_mem_ion_host_ptr ion_cl = {0};
ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
ion_cl.ion_filedesc = this->fd;
ion_cl.ion_hostptr = this->addr;
this->buf_cl = clCreateBuffer(ctx,
CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
this->len, &ion_cl, &err);
assert(err == 0);
}
int VisionBuf::sync(int dir) {
struct ion_flush_data flush_data = {0};
flush_data.handle = this->handle;
flush_data.vaddr = this->addr;
flush_data.offset = 0;
flush_data.length = this->len;
// ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
// ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
// ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL
struct ion_custom_data custom_data = {0};
assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
custom_data.arg = (unsigned long)&flush_data;
return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data));
}
int VisionBuf::free() {
int err = 0;
if (this->buf_cl){
err = clReleaseMemObject(this->buf_cl);
if (err != 0) return err;
}
err = munmap(this->addr, this->mmap_len);
if (err != 0) return err;
err = close(this->fd);
if (err != 0) return err;
struct ion_handle_data handle_data = {.handle = this->handle};
return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_FREE, &handle_data));
}
cereal/visionipc/visionipc.h
+18
View File
@@ -0,0 +1,18 @@
#pragma once
#include <cstdint>
#include <cstddef>
constexpr int VISIONIPC_MAX_FDS = 128;
struct VisionIpcBufExtra {
uint32_t frame_id;
uint64_t timestamp_sof;
uint64_t timestamp_eof;
};
struct VisionIpcPacket {
uint64_t server_id;
size_t idx;
struct VisionIpcBufExtra extra;
};
cereal/visionipc/visionipc.pxd
+39
View File
@@ -0,0 +1,39 @@
# distutils: language = c++
#cython: language_level=3
from libcpp.string cimport string
from libcpp.vector cimport vector
from libc.stdint cimport uint32_t, uint64_t
from libcpp cimport bool
cdef extern from "visionbuf.h":
cdef enum VisionStreamType:
pass
cdef cppclass VisionBuf:
void * addr
size_t len
size_t width
size_t height
size_t stride
cdef extern from "visionipc.h":
struct VisionIpcBufExtra:
uint32_t frame_id
uint64_t timestamp_sof
uint64_t timestamp_eof
cdef extern from "visionipc_server.h":
cdef cppclass VisionIpcServer:
VisionIpcServer(string, void*, void*)
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
VisionBuf * get_buffer(VisionStreamType)
void send(VisionBuf *, VisionIpcBufExtra *, bool)
void start_listener()
cdef extern from "visionipc_client.h":
cdef cppclass VisionIpcClient:
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
VisionBuf * recv(VisionIpcBufExtra *, int)
bool connect(bool)
bool is_connected()
cereal/visionipc/visionipc_client.cc
+129
View File
@@ -0,0 +1,129 @@
#include <chrono>
#include <cassert>
#include <iostream>
#include <thread>
#include "visionipc/ipc.h"
#include "visionipc/visionipc_client.h"
#include "visionipc/visionipc_server.h"
#include "logger/logger.h"
VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
msg_ctx = Context::create();
sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
poller = Poller::create();
poller->registerSocket(sock);
}
// Connect is not thread safe. Do not use the buffers while calling connect
bool VisionIpcClient::connect(bool blocking){
connected = false;
// Cleanup old buffers on reconnect
for (size_t i = 0; i < num_buffers; i++){
if (buffers[i].free() != 0) {
LOGE("Failed to free buffer %zu", i);
}
}
num_buffers = 0;
// Connect to server socket and ask for all FDs of type
std::string path = "/tmp/visionipc_" + name;
int socket_fd = -1;
while (socket_fd < 0) {
socket_fd = ipc_connect(path.c_str());
if (socket_fd < 0) {
if (blocking){
std::cout << "VisionIpcClient connecting" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(100));
} else {
return false;
}
}
}
// Send stream type to server to request FDs
int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
assert(r == sizeof(type));
// Get FDs
int fds[VISIONIPC_MAX_FDS];
VisionBuf bufs[VISIONIPC_MAX_FDS];
r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
assert(num_buffers >= 0);
assert(r == sizeof(VisionBuf) * num_buffers);
// Import buffers
for (size_t i = 0; i < num_buffers; i++){
buffers[i] = bufs[i];
buffers[i].fd = fds[i];
buffers[i].import();
if (buffers[i].rgb) {
buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
} else {
buffers[i].init_yuv(buffers[i].width, buffers[i].height);
}
if (device_id) buffers[i].init_cl(device_id, ctx);
}
close(socket_fd);
connected = true;
return true;
}
VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
auto p = poller->poll(timeout_ms);
if (!p.size()){
return nullptr;
}
Message * r = sock->receive(true);
if (r == nullptr){
return nullptr;
}
// Get buffer
assert(r->getSize() == sizeof(VisionIpcPacket));
VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
assert(packet->idx < num_buffers);
VisionBuf * buf = &buffers[packet->idx];
if (buf->server_id != packet->server_id){
connected = false;
delete r;
return nullptr;
}
if (extra) {
*extra = packet->extra;
}
if (buf->sync(VISIONBUF_SYNC_TO_DEVICE) != 0) {
LOGE("Failed to sync buffer");
}
delete r;
return buf;
}
VisionIpcClient::~VisionIpcClient(){
for (size_t i = 0; i < num_buffers; i++){
if (buffers[i].free() != 0) {
LOGE("Failed to free buffer %zu", i);
}
}
delete sock;
delete poller;
delete msg_ctx;
}
cereal/visionipc/visionipc_client.h
+33
View File
@@ -0,0 +1,33 @@
#pragma once
#include <vector>
#include <string>
#include <unistd.h>
#include "messaging/messaging.h"
#include "visionipc/visionipc.h"
#include "visionipc/visionbuf.h"
class VisionIpcClient {
private:
std::string name;
Context * msg_ctx;
SubSocket * sock;
Poller * poller;
VisionStreamType type;
cl_device_id device_id = nullptr;
cl_context ctx = nullptr;
void init_msgq(bool conflate);
public:
bool connected = false;
int num_buffers = 0;
VisionBuf buffers[VISIONIPC_MAX_FDS];
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
~VisionIpcClient();
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
bool connect(bool blocking=true);
bool is_connected() { return connected; }
};
cereal/visionipc/visionipc_pyx.cpp
+29069
View File
File diff suppressed because it is too large Load Diff
cereal/visionipc/visionipc_pyx.pyx
+93
View File
@@ -0,0 +1,93 @@
# distutils: language = c++
# cython: c_string_encoding=ascii, language_level=3
import sys
import numpy as np
cimport numpy as cnp
from cython.view cimport array
from libc.string cimport memcpy
from libc.stdint cimport uint32_t, uint64_t
from libcpp cimport bool
from libcpp.string cimport string
from .visionipc cimport VisionIpcServer as cppVisionIpcServer
from .visionipc cimport VisionIpcClient as cppVisionIpcClient
from .visionipc cimport VisionBuf as cppVisionBuf
from .visionipc cimport VisionIpcBufExtra
cpdef enum VisionStreamType:
VISION_STREAM_RGB_BACK
VISION_STREAM_RGB_FRONT
VISION_STREAM_RGB_WIDE
VISION_STREAM_ROAD
VISION_STREAM_DRIVER
VISION_STREAM_WIDE_ROAD
cdef class VisionIpcServer:
cdef cppVisionIpcServer * server
def __init__(self, string name):
self.server = new cppVisionIpcServer(name, NULL, NULL)
def create_buffers(self, VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
self.server.create_buffers(tp, num_buffers, rgb, width, height)
def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
cdef cppVisionBuf * buf = self.server.get_buffer(tp)
# Populate buffer
assert buf.len == len(data)
memcpy(buf.addr, <char*>data, len(data))
cdef VisionIpcBufExtra extra
extra.frame_id = frame_id
extra.timestamp_sof = timestamp_sof
extra.timestamp_eof = timestamp_eof
self.server.send(buf, &extra, False)
def start_listener(self):
self.server.start_listener()
def __dealloc__(self):
del self.server
cdef class VisionIpcClient:
cdef cppVisionBuf * buf
cdef cppVisionIpcClient * client
def __cinit__(self, string name, VisionStreamType stream, bool conflate):
self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
self.buf = NULL
def __dealloc__(self):
del self.client
@property
def width(self):
return None if not self.buf else self.buf.width
@property
def height(self):
return None if not self.buf else self.buf.height
@property
def stride(self):
return None if not self.buf else self.buf.stride
def recv(self, int timeout_ms=100):
self.buf = self.client.recv(NULL, timeout_ms)
if not self.buf:
return None
cdef cnp.ndarray dat = np.empty(self.buf.len, dtype=np.uint8)
cdef char[:] dat_view = dat
memcpy(&dat_view[0], self.buf.addr, self.buf.len)
return dat
def connect(self, bool blocking):
return self.client.connect(blocking)
def is_connected(self):
return self.client.is_connected()
cereal/visionipc/visionipc_pyx.so
Executable
BIN
View File
Binary file not shown.
cereal/visionipc/visionipc_server.cc
+184
View File
@@ -0,0 +1,184 @@
#include <iostream>
#include <chrono>
#include <cassert>
#include <random>
#include <poll.h>
#include <sys/socket.h>
#include <unistd.h>
#include "messaging/messaging.h"
#include "visionipc/ipc.h"
#include "visionipc/visionipc_server.h"
#include "logger/logger.h"
std::string get_endpoint_name(std::string name, VisionStreamType type){
if (messaging_use_zmq()){
assert(name == "camerad");
return std::to_string(9000 + static_cast<int>(type));
} else {
return "visionipc_" + name + "_" + std::to_string(type);
}
}
VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
msg_ctx = Context::create();
std::random_device rd("/dev/urandom");
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
server_id = distribution(rd);
}
void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
// TODO: assert that this type is not created yet
assert(num_buffers < VISIONIPC_MAX_FDS);
int aligned_w = 0, aligned_h = 0;
size_t size = 0;
size_t stride = 0; // Only used for RGB
if (rgb) {
visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
size = (size_t)aligned_w * (size_t)aligned_h * 3;
stride = aligned_w * 3;
} else {
size = width * height * 3 / 2;
}
// Create map + alloc requested buffers
for (size_t i = 0; i < num_buffers; i++){
VisionBuf* buf = new VisionBuf();
buf->allocate(size);
buf->idx = i;
buf->type = type;
if (device_id) buf->init_cl(device_id, ctx);
rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
buffers[type].push_back(buf);
}
cur_idx[type] = 0;
// Create msgq publisher for each of the `name` + type combos
// TODO: compute port number directly if using zmq
sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
}
void VisionIpcServer::start_listener(){
listener_thread = std::thread(&VisionIpcServer::listener, this);
}
void VisionIpcServer::listener(){
std::cout << "Starting listener for: " << name << std::endl;
std::string path = "/tmp/visionipc_" + name;
int sock = ipc_bind(path.c_str());
assert(sock >= 0);
while (!should_exit){
// Wait for incoming connection
struct pollfd polls[1] = {{0}};
polls[0].fd = sock;
polls[0].events = POLLIN;
int ret = poll(polls, 1, 100);
if (ret < 0) {
if (errno == EINTR || errno == EAGAIN) continue;
std::cout << "poll failed, stopping listener" << std::endl;
break;
}
if (should_exit) break;
if (!polls[0].revents) {
continue;
}
// Handle incoming request
int fd = accept(sock, NULL, NULL);
assert(fd >= 0);
VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
assert(r == sizeof(type));
if (buffers.count(type) <= 0) {
std::cout << "got request for invalid buffer type: " << type << std::endl;
close(fd);
continue;
}
int fds[VISIONIPC_MAX_FDS];
int num_fds = buffers[type].size();
VisionBuf bufs[VISIONIPC_MAX_FDS];
for (int i = 0; i < num_fds; i++){
fds[i] = buffers[type][i]->fd;
bufs[i] = *buffers[type][i];
// Remove some private openCL/ion metadata
bufs[i].buf_cl = 0;
bufs[i].copy_q = 0;
bufs[i].handle = 0;
bufs[i].server_id = server_id;
}
r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
close(fd);
}
std::cout << "Stopping listener for: " << name << std::endl;
close(sock);
}
VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
// Do we want to keep track if the buffer has been sent out yet and warn user?
assert(buffers.count(type));
auto b = buffers[type];
return b[cur_idx[type]++ % b.size()];
}
void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
if (sync) {
if (buf->sync(VISIONBUF_SYNC_FROM_DEVICE) != 0) {
LOGE("Failed to sync buffer");
}
}
assert(buffers.count(buf->type));
assert(buf->idx < buffers[buf->type].size());
// Send over correct msgq socket
VisionIpcPacket packet = {0};
packet.server_id = server_id;
packet.idx = buf->idx;
packet.extra = *extra;
sockets[buf->type]->send((char*)&packet, sizeof(packet));
}
VisionIpcServer::~VisionIpcServer(){
should_exit = true;
listener_thread.join();
// VisionBuf cleanup
for( auto const& [type, buf] : buffers ) {
for (VisionBuf* b : buf){
if (b->free() != 0) {
LOGE("Failed to free buffer");
}
delete b;
}
}
// Messaging cleanup
for( auto const& [type, sock] : sockets ) {
delete sock;
}
delete msg_ctx;
}
cereal/visionipc/visionipc_server.h
+42
View File
@@ -0,0 +1,42 @@
#pragma once
#include <vector>
#include <string>
#include <thread>
#include <atomic>
#include <map>
#include "messaging/messaging.h"
#include "visionipc/visionipc.h"
#include "visionipc/visionbuf.h"
std::string get_endpoint_name(std::string name, VisionStreamType type);
class VisionIpcServer {
private:
cl_device_id device_id = nullptr;
cl_context ctx = nullptr;
uint64_t server_id;
std::atomic<bool> should_exit = false;
std::string name;
std::thread listener_thread;
std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
Context * msg_ctx;
std::map<VisionStreamType, PubSocket*> sockets;
void listener(void);
public:
VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
~VisionIpcServer();
VisionBuf * get_buffer(VisionStreamType type);
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
void start_listener();
};
cereal/visionipc/visionipc_tests.cc
+137
View File
@@ -0,0 +1,137 @@
#include <thread>
#include <chrono>
#include "catch2/catch.hpp"
#include "visionipc_server.h"
#include "visionipc_client.h"
static void zmq_sleep(int milliseconds=1000){
if (messaging_use_zmq()){
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
}
}
TEST_CASE("Connecting"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
REQUIRE(client.connect());
REQUIRE(client.connected);
}
TEST_CASE("Check buffers"){
size_t width = 100, height = 200, num_buffers = 5;
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_ROAD, num_buffers, false, width, height);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
REQUIRE(client.connect());
REQUIRE(client.buffers[0].width == width);
REQUIRE(client.buffers[0].height == height);
REQUIRE(client.buffers[0].len);
REQUIRE(client.num_buffers == num_buffers);
}
TEST_CASE("Check yuv/rgb"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
server.start_listener();
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
client_yuv.connect();
client_rgb.connect();
REQUIRE(client_rgb.buffers[0].rgb == true);
REQUIRE(client_yuv.buffers[0].rgb == false);
}
TEST_CASE("Send single buffer"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
REQUIRE(client.connect());
zmq_sleep();
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
REQUIRE(buf != nullptr);
*((uint64_t*)buf->addr) = 1234;
VisionIpcBufExtra extra = {0};
extra.frame_id = 1337;
buf->set_frame_id(extra.frame_id);
server.send(buf, &extra);
VisionIpcBufExtra extra_recv = {0};
VisionBuf * recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf != nullptr);
REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
REQUIRE(extra_recv.frame_id == extra.frame_id);
REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
}
TEST_CASE("Test no conflate"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
REQUIRE(client.connect());
zmq_sleep();
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
REQUIRE(buf != nullptr);
VisionIpcBufExtra extra = {0};
extra.frame_id = 1;
server.send(buf, &extra);
extra.frame_id = 2;
server.send(buf, &extra);
VisionIpcBufExtra extra_recv = {0};
VisionBuf * recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf != nullptr);
REQUIRE(extra_recv.frame_id == 1);
recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf != nullptr);
REQUIRE(extra_recv.frame_id == 2);
}
TEST_CASE("Test conflate"){
VisionIpcServer server("camerad");
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
server.start_listener();
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
REQUIRE(client.connect());
zmq_sleep();
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
REQUIRE(buf != nullptr);
VisionIpcBufExtra extra = {0};
extra.frame_id = 1;
server.send(buf, &extra);
extra.frame_id = 2;
server.send(buf, &extra);
VisionIpcBufExtra extra_recv = {0};
VisionBuf * recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf != nullptr);
REQUIRE(extra_recv.frame_id == 2);
recv_buf = client.recv(&extra_recv);
REQUIRE(recv_buf == nullptr);
}
common/.gitignore
+1
View File
@@ -0,0 +1 @@
*.cpp
common/SConscript
+4
View File
@@ -0,0 +1,4 @@
Import('envCython', 'common')
envCython.Program('clock.so', 'clock.pyx')
envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
common/__init__.py
View File
common/api/__init__.py
+46
View File
@@ -0,0 +1,46 @@
import jwt
import os
import requests
from datetime import datetime, timedelta
from common.basedir import PERSIST
from selfdrive.version import get_version
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
class Api():
def __init__(self, dongle_id):
self.dongle_id = dongle_id
with open(PERSIST+'/comma/id_rsa') as f:
self.private_key = f.read()
def get(self, *args, **kwargs):
return self.request('GET', *args, **kwargs)
def post(self, *args, **kwargs):
return self.request('POST', *args, **kwargs)
def request(self, method, endpoint, timeout=None, access_token=None, **params):
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
def get_token(self):
now = datetime.utcnow()
payload = {
'identity': self.dongle_id,
'nbf': now,
'iat': now,
'exp': now + timedelta(hours=1)
}
token = jwt.encode(payload, self.private_key, algorithm='RS256')
if isinstance(token, bytes):
token = token.decode('utf8')
return token
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
headers = {}
if access_token is not None:
headers['Authorization'] = "JWT " + access_token
headers['User-Agent'] = "openpilot-" + get_version()
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
common/basedir.py
+11
View File
@@ -0,0 +1,11 @@
import os
from pathlib import Path
from selfdrive.hardware import PC
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
if PC:
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
else:
PERSIST = "/persist"
common/clock.cpp
+2804
View File
File diff suppressed because it is too large Load Diff
common/clock.pyx
+24
View File
@@ -0,0 +1,24 @@
# distutils: language = c++
# cython: language_level = 3
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
IF UNAME_SYSNAME == "Darwin":
# Darwin doesn't have a CLOCK_BOOTTIME
CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
ELSE:
from posix.time cimport CLOCK_BOOTTIME
cdef double readclock(clockid_t clock_id):
cdef timespec ts
cdef double current
clock_gettime(clock_id, &ts)
current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
return current
def monotonic_time():
return readclock(CLOCK_MONOTONIC_RAW)
def sec_since_boot():
return readclock(CLOCK_BOOTTIME)
common/clock.so
Executable
BIN
View File
Binary file not shown.
common/dict_helpers.py
+9
View File
@@ -0,0 +1,9 @@
# remove all keys that end in DEPRECATED
def strip_deprecated_keys(d):
for k in list(d.keys()):
if isinstance(k, str):
if k.endswith('DEPRECATED'):
d.pop(k)
elif isinstance(d[k], dict):
strip_deprecated_keys(d[k])
return d
common/ffi_wrapper.py
+55
View File
@@ -0,0 +1,55 @@
import os
import sys
import fcntl
import hashlib
import platform
from cffi import FFI
def suffix():
if platform.system() == "Darwin":
return ".dylib"
else:
return ".so"
def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
if libraries is None:
libraries = []
cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
try:
os.mkdir(tmpdir)
except OSError:
pass
fd = os.open(tmpdir, 0)
fcntl.flock(fd, fcntl.LOCK_EX)
try:
sys.path.append(tmpdir)
try:
mod = __import__(cache)
except Exception:
print(f"cache miss {cache}")
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
mod = __import__(cache)
finally:
os.close(fd)
return mod.ffi, mod.lib
def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
if libraries is None:
libraries = []
ffibuilder = FFI()
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
ffibuilder.cdef(c_header)
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
os.environ['CFLAGS'] = cflags
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
def wrap_compiled(name, directory):
sys.path.append(directory)
mod = __import__(name)
return mod.ffi, mod.lib
common/file_helpers.py
+113
View File
@@ -0,0 +1,113 @@
import os
import shutil
import tempfile
from atomicwrites import AtomicWriter
def mkdirs_exists_ok(path):
if path.startswith('http://') or path.startswith('https://'):
raise ValueError('URL path')
try:
os.makedirs(path)
except OSError:
if not os.path.isdir(path):
raise
def rm_not_exists_ok(path):
try:
os.remove(path)
except OSError:
if os.path.exists(path):
raise
def rm_tree_or_link(path):
if os.path.islink(path):
os.unlink(path)
elif os.path.isdir(path):
shutil.rmtree(path)
def get_tmpdir_on_same_filesystem(path):
normpath = os.path.normpath(path)
parts = normpath.split("/")
if len(parts) > 1 and parts[1] == "scratch":
return "/scratch/tmp"
elif len(parts) > 2 and parts[2] == "runner":
return f"/{parts[1]}/runner/tmp"
return "/tmp"
class NamedTemporaryDir():
def __init__(self, temp_dir=None):
self._path = tempfile.mkdtemp(dir=temp_dir)
@property
def name(self):
return self._path
def close(self):
shutil.rmtree(self._path)
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
self.close()
class CallbackReader:
"""Wraps a file, but overrides the read method to also
call a callback function with the number of bytes read so far."""
def __init__(self, f, callback, *args):
self.f = f
self.callback = callback
self.cb_args = args
self.total_read = 0
def __getattr__(self, attr):
return getattr(self.f, attr)
def read(self, *args, **kwargs):
chunk = self.f.read(*args, **kwargs)
self.total_read += len(chunk)
self.callback(*self.cb_args, self.total_read)
return chunk
def _get_fileobject_func(writer, temp_dir):
def _get_fileobject():
return writer.get_fileobject(dir=temp_dir)
return _get_fileobject
def monkeypatch_os_link():
# This is neccesary on EON/C2, where os.link is patched out of python
if not hasattr(os, 'link'):
from cffi import FFI
ffi = FFI()
ffi.cdef("int link(const char *oldpath, const char *newpath);")
libc = ffi.dlopen(None)
def link(src, dest):
return libc.link(src.encode(), dest.encode())
os.link = link
def atomic_write_on_fs_tmp(path, **kwargs):
"""Creates an atomic writer using a temporary file in a temporary directory
on the same filesystem as path.
"""
# TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
# directory.
monkeypatch_os_link()
writer = AtomicWriter(path, **kwargs)
return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
def atomic_write_in_dir(path, **kwargs):
"""Creates an atomic writer using a temporary file in the same directory
as the destination file.
"""
monkeypatch_os_link()
writer = AtomicWriter(path, **kwargs)
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
common/filter_simple.py
+18
View File
@@ -0,0 +1,18 @@
class FirstOrderFilter:
# first order filter
def __init__(self, x0, rc, dt, initialized=True):
self.x = x0
self.dt = dt
self.update_alpha(rc)
self.initialized = initialized
def update_alpha(self, rc):
self.alpha = self.dt / (rc + self.dt)
def update(self, x):
if self.initialized:
self.x = (1. - self.alpha) * self.x + self.alpha * x
else:
self.initialized = True
self.x = x
return self.x
common/gpio.py
+14
View File
@@ -0,0 +1,14 @@
def gpio_init(pin, output):
try:
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
f.write(b"out" if output else b"in")
except Exception as e:
print(f"Failed to set gpio {pin} direction: {e}")
def gpio_set(pin, high):
try:
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
f.write(b"1" if high else b"0")
except Exception as e:
print(f"Failed to set gpio {pin} value: {e}")
common/kalman/.gitignore
+1
View File
@@ -0,0 +1 @@
simple_kalman_impl.c
common/kalman/SConscript
+3
View File
@@ -0,0 +1,3 @@
Import('envCython')
envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
common/kalman/__init__.py
View File
common/kalman/simple_kalman.py
+3
View File
@@ -0,0 +1,3 @@
# pylint: skip-file
from common.kalman.simple_kalman_impl import KF1D as KF1D
assert KF1D
common/kalman/simple_kalman_impl.cpp
+6875
View File
File diff suppressed because it is too large Load Diff
common/kalman/simple_kalman_impl.pxd
+18
View File
@@ -0,0 +1,18 @@
# cython: language_level = 3
cdef class KF1D:
cdef public:
double x0_0
double x1_0
double K0_0
double K1_0
double A0_0
double A0_1
double A1_0
double A1_1
double C0_0
double C0_1
double A_K_0
double A_K_1
double A_K_2
double A_K_3
common/kalman/simple_kalman_impl.pyx
+37
View File
@@ -0,0 +1,37 @@
# distutils: language = c++
# cython: language_level=3
cdef class KF1D:
def __init__(self, x0, A, C, K):
self.x0_0 = x0[0][0]
self.x1_0 = x0[1][0]
self.A0_0 = A[0][0]
self.A0_1 = A[0][1]
self.A1_0 = A[1][0]
self.A1_1 = A[1][1]
self.C0_0 = C[0]
self.C0_1 = C[1]
self.K0_0 = K[0][0]
self.K1_0 = K[1][0]
self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
def update(self, meas):
cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
self.x0_0 = x0_0
self.x1_0 = x1_0
return [self.x0_0, self.x1_0]
@property
def x(self):
return [[self.x0_0], [self.x1_0]]
@x.setter
def x(self, x):
self.x0_0 = x[0][0]
self.x1_0 = x[1][0]
common/kalman/simple_kalman_impl.so
Executable
BIN
View File
Binary file not shown.
common/kalman/simple_kalman_old.py
+23
View File
@@ -0,0 +1,23 @@
import numpy as np
class KF1D:
# this EKF assumes constant covariance matrix, so calculations are much simpler
# the Kalman gain also needs to be precomputed using the control module
def __init__(self, x0, A, C, K):
self.x = x0
self.A = A
self.C = np.atleast_2d(C)
self.K = K
self.A_K = self.A - np.dot(self.K, self.C)
# K matrix needs to be pre-computed as follow:
# import control
# (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
# self.K = np.transpose(K)
def update(self, meas):
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
return self.x
common/kalman/tests/__init__.py
View File
common/kalman/tests/test_simple_kalman.py
+87
View File
@@ -0,0 +1,87 @@
import unittest
import random
import timeit
import numpy as np
from common.kalman.simple_kalman import KF1D
from common.kalman.simple_kalman_old import KF1D as KF1D_old
class TestSimpleKalman(unittest.TestCase):
def setUp(self):
dt = 0.01
x0_0 = 0.0
x1_0 = 0.0
A0_0 = 1.0
A0_1 = dt
A1_0 = 0.0
A1_1 = 1.0
C0_0 = 1.0
C0_1 = 0.0
K0_0 = 0.12287673
K1_0 = 0.29666309
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.array([C0_0, C0_1]),
K=np.array([[K0_0], [K1_0]]))
self.kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]],
C=[C0_0, C0_1],
K=[[K0_0], [K1_0]])
def test_getter_setter(self):
self.kf.x = [[1.0], [1.0]]
self.assertEqual(self.kf.x, [[1.0], [1.0]])
def update_returns_state(self):
x = self.kf.update(100)
self.assertEqual(x, self.kf.x)
def test_old_equal_new(self):
for _ in range(1000):
v_wheel = random.uniform(0, 200)
x_old = self.kf_old.update(v_wheel)
x = self.kf.update(v_wheel)
# Compare the output x, verify that the error is less than 1e-4
np.testing.assert_almost_equal(x_old[0], x[0])
np.testing.assert_almost_equal(x_old[1], x[1])
def test_new_is_faster(self):
setup = """
import numpy as np
from common.kalman.simple_kalman import KF1D
from common.kalman.simple_kalman_old import KF1D as KF1D_old
dt = 0.01
x0_0 = 0.0
x1_0 = 0.0
A0_0 = 1.0
A0_1 = dt
A1_0 = 0.0
A1_1 = 1.0
C0_0 = 1.0
C0_1 = 0.0
K0_0 = 0.12287673
K1_0 = 0.29666309
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.array([C0_0, C0_1]),
K=np.array([[K0_0], [K1_0]]))
kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]],
C=[C0_0, C0_1],
K=[[K0_0], [K1_0]])
"""
kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
self.assertTrue(kf_speed < kf_old_speed / 4)
if __name__ == "__main__":
unittest.main()
common/logging_extra.py
+235
View File
@@ -0,0 +1,235 @@
import io
import os
import sys
import copy
import json
import uuid
import socket
import logging
import traceback
from threading import local
from collections import OrderedDict
from contextlib import contextmanager
def json_handler(obj):
# if isinstance(obj, (datetime.date, datetime.time)):
# return obj.isoformat()
return repr(obj)
def json_robust_dumps(obj):
return json.dumps(obj, default=json_handler)
class NiceOrderedDict(OrderedDict):
def __str__(self):
return json_robust_dumps(self)
class SwagFormatter(logging.Formatter):
def __init__(self, swaglogger):
logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
self.swaglogger = swaglogger
self.host = socket.gethostname()
def format_dict(self, record):
record_dict = NiceOrderedDict()
if isinstance(record.msg, dict):
record_dict['msg'] = record.msg
else:
try:
record_dict['msg'] = record.getMessage()
except (ValueError, TypeError):
record_dict['msg'] = [record.msg]+record.args
record_dict['ctx'] = self.swaglogger.get_ctx()
if record.exc_info:
record_dict['exc_info'] = self.formatException(record.exc_info)
record_dict['level'] = record.levelname
record_dict['levelnum'] = record.levelno
record_dict['name'] = record.name
record_dict['filename'] = record.filename
record_dict['lineno'] = record.lineno
record_dict['pathname'] = record.pathname
record_dict['module'] = record.module
record_dict['funcName'] = record.funcName
record_dict['host'] = self.host
record_dict['process'] = record.process
record_dict['thread'] = record.thread
record_dict['threadName'] = record.threadName
record_dict['created'] = record.created
return record_dict
def format(self, record):
if self.swaglogger is None:
raise Exception("must set swaglogger before calling format()")
return json_robust_dumps(self.format_dict(record))
class SwagLogFileFormatter(SwagFormatter):
def fix_kv(self, k, v):
# append type to names to preserve legacy naming in logs
# avoids overlapping key namespaces with different types
# e.g. log.info() creates 'msg' -> 'msg$s'
# log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
# because overlapping namespace 'msg' caused problems
if isinstance(v, (str, bytes)):
k += "$s"
elif isinstance(v, float):
k += "$f"
elif isinstance(v, bool):
k += "$b"
elif isinstance(v, int):
k += "$i"
elif isinstance(v, dict):
nv = {}
for ik, iv in v.items():
ik, iv = self.fix_kv(ik, iv)
nv[ik] = iv
v = nv
elif isinstance(v, list):
k += "$a"
return k, v
def format(self, record):
if isinstance(record, str):
v = json.loads(record)
else:
v = self.format_dict(record)
mk, mv = self.fix_kv('msg', v['msg'])
del v['msg']
v[mk] = mv
v['id'] = uuid.uuid4().hex
return json_robust_dumps(v)
class SwagErrorFilter(logging.Filter):
def filter(self, record):
return record.levelno < logging.ERROR
def _tmpfunc():
return 0
def _srcfile():
return os.path.normcase(_tmpfunc.__code__.co_filename)
class SwagLogger(logging.Logger):
def __init__(self):
logging.Logger.__init__(self, "swaglog")
self.global_ctx = {}
self.log_local = local()
self.log_local.ctx = {}
def local_ctx(self):
try:
return self.log_local.ctx
except AttributeError:
self.log_local.ctx = {}
return self.log_local.ctx
def get_ctx(self):
return dict(self.local_ctx(), **self.global_ctx)
@contextmanager
def ctx(self, **kwargs):
old_ctx = self.local_ctx()
self.log_local.ctx = copy.copy(old_ctx) or {}
self.log_local.ctx.update(kwargs)
try:
yield
finally:
self.log_local.ctx = old_ctx
def bind(self, **kwargs):
self.local_ctx().update(kwargs)
def bind_global(self, **kwargs):
self.global_ctx.update(kwargs)
def event(self, event_name, *args, **kwargs):
evt = NiceOrderedDict()
evt['event'] = event_name
if args:
evt['args'] = args
evt.update(kwargs)
if 'error' in kwargs:
self.error(evt)
elif 'debug' in kwargs:
self.debug(evt)
else:
self.info(evt)
def findCaller(self, stack_info=False, stacklevel=1):
"""
Find the stack frame of the caller so that we can note the source
file name, line number and function name.
"""
f = sys._getframe(3)
#On some versions of IronPython, currentframe() returns None if
#IronPython isn't run with -X:Frames.
if f is not None:
f = f.f_back
orig_f = f
while f and stacklevel > 1:
f = f.f_back
stacklevel -= 1
if not f:
f = orig_f
rv = "(unknown file)", 0, "(unknown function)", None
while hasattr(f, "f_code"):
co = f.f_code
filename = os.path.normcase(co.co_filename)
# TODO: is this pylint exception correct?
if filename == _srcfile: # pylint: disable=comparison-with-callable
f = f.f_back
continue
sinfo = None
if stack_info:
sio = io.StringIO()
sio.write('Stack (most recent call last):\n')
traceback.print_stack(f, file=sio)
sinfo = sio.getvalue()
if sinfo[-1] == '\n':
sinfo = sinfo[:-1]
sio.close()
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
break
return rv
if __name__ == "__main__":
log = SwagLogger()
stdout_handler = logging.StreamHandler(sys.stdout)
stdout_handler.setLevel(logging.INFO)
stdout_handler.addFilter(SwagErrorFilter())
log.addHandler(stdout_handler)
stderr_handler = logging.StreamHandler(sys.stderr)
stderr_handler.setLevel(logging.ERROR)
log.addHandler(stderr_handler)
log.info("asdasd %s", "a")
log.info({'wut': 1})
log.warning("warning")
log.error("error")
log.critical("critical")
log.event("test", x="y")
with log.ctx():
stdout_handler.setFormatter(SwagFormatter(log))
stderr_handler.setFormatter(SwagFormatter(log))
log.bind(user="some user")
log.info("in req")
print("")
log.warning("warning")
print("")
log.error("error")
print("")
log.critical("critical")
print("")
log.event("do_req", a=1, b="c")
common/markdown.py
Executable
+48
View File
@@ -0,0 +1,48 @@
from typing import List
HTML_REPLACEMENTS = [
(r'&', r'&amp;'),
(r'"', r'&quot;'),
]
def parse_markdown(text: str, tab_length: int = 2) -> str:
lines = text.split("\n")
output: List[str] = []
list_level = 0
def end_outstanding_lists(level: int, end_level: int) -> int:
while level > end_level:
level -= 1
output.append("</ul>")
if level > 0:
output.append("</li>")
return end_level
for i, line in enumerate(lines):
if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading
output.append(f"<h1>{line}</h1>")
elif line.startswith("==="):
pass
elif line.lstrip().startswith("* "): # list
line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
if list_level >= line_level:
list_level = end_outstanding_lists(list_level, line_level)
else:
list_level += 1
if list_level > 1:
output[-1] = output[-1].replace("</li>", "")
output.append("<ul>")
output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
else:
list_level = end_outstanding_lists(list_level, 0)
if len(line) > 0:
output.append(line)
end_outstanding_lists(list_level, 0)
output_str = "\n".join(output) + "\n"
for (fr, to) in HTML_REPLACEMENTS:
output_str = output_str.replace(fr, to)
return output_str
common/numpy_fast.py
+19
View File
@@ -0,0 +1,19 @@
def clip(x, lo, hi):
return max(lo, min(hi, x))
def interp(x, xp, fp):
N = len(xp)
def get_interp(xv):
hi = 0
while hi < N and xv > xp[hi]:
hi += 1
low = hi - 1
return fp[-1] if hi == N and xv > xp[low] else (
fp[0] if hi == 0 else
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
def mean(x):
return sum(x) / len(x)
common/params.py
+19
View File
@@ -0,0 +1,19 @@
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
assert Params
assert ParamKeyType
assert UnknownKeyName
assert put_nonblocking
if __name__ == "__main__":
import sys
params = Params()
key = sys.argv[1]
assert params.check_key(key), f"unknown param: {key}"
if len(sys.argv) == 3:
val = sys.argv[2]
print(f"SET: {key} = {val}")
params.put(key, val)
elif len(sys.argv) == 2:
print(f"GET: {key} = {params.get(key)}")
common/params_pyx.cpp
+10507
View File
File diff suppressed because it is too large Load Diff
common/params_pyx.pyx
Executable
+105
View File
@@ -0,0 +1,105 @@
# distutils: language = c++
# cython: language_level = 3
from libcpp cimport bool
from libcpp.string cimport string
import threading
cdef extern from "selfdrive/common/params.h":
cpdef enum ParamKeyType:
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_IGNITION_ON
CLEAR_ON_IGNITION_OFF
ALL
cdef cppclass c_Params "Params":
c_Params(string) nogil
string get(string, bool) nogil
bool getBool(string) nogil
int remove(string) nogil
int put(string, string) nogil
int putBool(string, bool) nogil
bool checkKey(string) nogil
void clearAll(ParamKeyType)
def ensure_bytes(v):
return v.encode() if isinstance(v, str) else v;
class UnknownKeyName(Exception):
pass
cdef class Params:
cdef c_Params* p
def __cinit__(self, d=""):
cdef string path = <string>d.encode()
with nogil:
self.p = new c_Params(path)
def __dealloc__(self):
del self.p
def clear_all(self, tx_type=ParamKeyType.ALL):
self.p.clearAll(tx_type)
def check_key(self, key):
key = ensure_bytes(key)
if not self.p.checkKey(key):
raise UnknownKeyName(key)
return key
def get(self, key, bool block=False, encoding=None):
cdef string k = self.check_key(key)
cdef string val
with nogil:
val = self.p.get(k, block)
if val == b"":
if block:
# If we got no value while running in blocked mode
# it means we got an interrupt while waiting
raise KeyboardInterrupt
else:
return None
return val if encoding is None else val.decode(encoding)
def get_bool(self, key):
cdef string k = self.check_key(key)
cdef bool r
with nogil:
r = self.p.getBool(k)
return r
def put(self, key, dat):
"""
Warning: This function blocks until the param is written to disk!
In very rare cases this can take over a second, and your code will hang.
Use the put_nonblocking helper function in time sensitive code, but
in general try to avoid writing params as much as possible.
"""
cdef string k = self.check_key(key)
cdef string dat_bytes = ensure_bytes(dat)
with nogil:
self.p.put(k, dat_bytes)
def put_bool(self, key, bool val):
cdef string k = self.check_key(key)
with nogil:
self.p.putBool(k, val)
def delete(self, key):
cdef string k = self.check_key(key)
with nogil:
self.p.remove(k)
def put_nonblocking(key, val, d=""):
def f(key, val):
params = Params(d)
cdef string k = ensure_bytes(key)
params.put(k, val)
t = threading.Thread(target=f, args=(key, val))
t.start()
return t
common/params_pyx.so
Executable
BIN
View File
Binary file not shown.
common/profiler.py
+45
View File
@@ -0,0 +1,45 @@
import time
class Profiler():
def __init__(self, enabled=False):
self.enabled = enabled
self.cp = {}
self.cp_ignored = []
self.iter = 0
self.start_time = time.time()
self.last_time = self.start_time
self.tot = 0.
def reset(self, enabled=False):
self.enabled = enabled
self.cp = {}
self.cp_ignored = []
self.iter = 0
self.start_time = time.time()
self.last_time = self.start_time
def checkpoint(self, name, ignore=False):
# ignore flag needed when benchmarking threads with ratekeeper
if not self.enabled:
return
tt = time.time()
if name not in self.cp:
self.cp[name] = 0.
if ignore:
self.cp_ignored.append(name)
self.cp[name] += tt - self.last_time
if not ignore:
self.tot += tt - self.last_time
self.last_time = tt
def display(self):
if not self.enabled:
return
self.iter += 1
print("******* Profiling %d *******" % self.iter)
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
if n in self.cp_ignored:
print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
else:
print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}")
common/realtime.py
+86
View File
@@ -0,0 +1,86 @@
"""Utilities for reading real time clocks and keeping soft real time constraints."""
import gc
import os
import time
import multiprocessing
from typing import Optional
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
from selfdrive.hardware import PC, TICI
# time step for each process
DT_CTRL = 0.01 # controlsd
DT_MDL = 0.05 # model
DT_TRML = 0.5 # thermald and manager
# driver monitoring
if TICI:
DT_DMON = 0.05
else:
DT_DMON = 0.1
class Priority:
# CORE 2
# - modeld = 55
# - camerad = 54
CTRL_LOW = 51 # plannerd & radard
# CORE 3
# - boardd = 55
CTRL_HIGH = 53
def set_realtime_priority(level: int) -> None:
if not PC:
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined]
def set_core_affinity(core: int) -> None:
if not PC:
os.sched_setaffinity(0, [core,]) # type: ignore[attr-defined]
def config_realtime_process(core: int, priority: int) -> None:
gc.disable()
set_realtime_priority(priority)
set_core_affinity(core)
class Ratekeeper:
def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
self._interval = 1. / rate
self._next_frame_time = sec_since_boot() + self._interval
self._print_delay_threshold = print_delay_threshold
self._frame = 0
self._remaining = 0.0
self._process_name = multiprocessing.current_process().name
@property
def frame(self) -> int:
return self._frame
@property
def remaining(self) -> float:
return self._remaining
# Maintain loop rate by calling this at the end of each loop
def keep_time(self) -> bool:
lagged = self.monitor_time()
if self._remaining > 0:
time.sleep(self._remaining)
return lagged
# this only monitor the cumulative lag, but does not enforce a rate
def monitor_time(self) -> bool:
lagged = False
remaining = self._next_frame_time - sec_since_boot()
self._next_frame_time += self._interval
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
lagged = True
self._frame += 1
self._remaining = remaining
return lagged
common/spinner.py
+52
View File
@@ -0,0 +1,52 @@
import os
import subprocess
from common.basedir import BASEDIR
class Spinner():
def __init__(self):
try:
self.spinner_proc = subprocess.Popen(["./spinner"],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
close_fds=True)
except OSError:
self.spinner_proc = None
def __enter__(self):
return self
def update(self, spinner_text: str):
if self.spinner_proc is not None:
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
try:
self.spinner_proc.stdin.flush()
except BrokenPipeError:
pass
def update_progress(self, cur: float, total: float):
self.update(str(round(100 * cur / total)))
def close(self):
if self.spinner_proc is not None:
try:
self.spinner_proc.stdin.close()
except BrokenPipeError:
pass
self.spinner_proc.terminate()
self.spinner_proc = None
def __del__(self):
self.close()
def __exit__(self, exc_type, exc_value, traceback):
self.close()
if __name__ == "__main__":
import time
with Spinner() as s:
s.update("Spinner text")
time.sleep(5.0)
print("gone")
time.sleep(5.0)
common/stat_live.py
+73
View File
@@ -0,0 +1,73 @@
import numpy as np
class RunningStat():
# tracks realtime mean and standard deviation without storing any data
def __init__(self, priors=None, max_trackable=-1):
self.max_trackable = max_trackable
if priors is not None:
# initialize from history
self.M = priors[0]
self.S = priors[1]
self.n = priors[2]
self.M_last = self.M
self.S_last = self.S
else:
self.reset()
def reset(self):
self.M = 0.
self.S = 0.
self.M_last = 0.
self.S_last = 0.
self.n = 0
def push_data(self, new_data):
# short term memory hack
if self.max_trackable < 0 or self.n < self.max_trackable:
self.n += 1
if self.n == 0:
self.M_last = new_data
self.M = self.M_last
self.S_last = 0.
else:
self.M = self.M_last + (new_data - self.M_last) / self.n
self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
self.M_last = self.M
self.S_last = self.S
def mean(self):
return self.M
def variance(self):
if self.n >= 2:
return self.S / (self.n - 1.)
else:
return 0
def std(self):
return np.sqrt(self.variance())
def params_to_save(self):
return [self.M, self.S, self.n]
class RunningStatFilter():
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
self.raw_stat = RunningStat(raw_priors, -1)
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
def reset(self):
self.raw_stat.reset()
self.filtered_stat.reset()
def push_and_update(self, new_data):
_std_last = self.raw_stat.std()
self.raw_stat.push_data(new_data)
_delta_std = self.raw_stat.std() - _std_last
if _delta_std <= 0:
self.filtered_stat.push_data(new_data)
else:
pass
# self.filtered_stat.push_data(self.filtered_stat.mean())
# class SequentialBayesian():
common/text_window.py
Executable
+63
View File
@@ -0,0 +1,63 @@
#!/usr/bin/env python3
import os
import time
import subprocess
from common.basedir import BASEDIR
class TextWindow:
def __init__(self, text):
try:
self.text_proc = subprocess.Popen(["./text", text],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
close_fds=True)
except OSError:
self.text_proc = None
def get_status(self):
if self.text_proc is not None:
self.text_proc.poll()
return self.text_proc.returncode
return None
def __enter__(self):
return self
def close(self):
if self.text_proc is not None:
self.text_proc.terminate()
self.text_proc = None
def wait_for_exit(self):
if self.text_proc is not None:
while True:
if self.get_status() == 1:
return
time.sleep(0.1)
def __del__(self):
self.close()
def __exit__(self, exc_type, exc_value, traceback):
self.close()
if __name__ == "__main__":
text = """Traceback (most recent call last):
File "./controlsd.py", line 608, in <module>
main()
File "./controlsd.py", line 604, in main
controlsd_thread(sm, pm, logcan)
File "./controlsd.py", line 455, in controlsd_thread
1/0
ZeroDivisionError: division by zero"""
print(text)
with TextWindow(text) as s:
for _ in range(100):
if s.get_status() == 1:
print("Got exit button")
break
time.sleep(0.1)
print("gone")
common/timeout.py
+27
View File
@@ -0,0 +1,27 @@
import signal
class TimeoutException(Exception):
pass
class Timeout:
"""
Timeout context manager.
For example this code will raise a TimeoutException:
with Timeout(seconds=5, error_msg="Sleep was too long"):
time.sleep(10)
"""
def __init__(self, seconds, error_msg=None):
if error_msg is None:
error_msg = f'Timed out after {seconds} seconds'
self.seconds = seconds
self.error_msg = error_msg
def handle_timeout(self, signume, frame):
raise TimeoutException(self.error_msg)
def __enter__(self):
signal.signal(signal.SIGALRM, self.handle_timeout)
signal.alarm(self.seconds)
def __exit__(self, exc_type, exc_val, exc_tb):
signal.alarm(0)
common/transformations/SConscript
+6
View File
@@ -0,0 +1,6 @@
Import('env', 'envCython')
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
Export('transformations')
envCython.Program('transformations.so', 'transformations.pyx')
common/transformations/__init__.py
View File
common/transformations/camera.py
+179
View File
@@ -0,0 +1,179 @@
import numpy as np
import common.transformations.orientation as orient
from selfdrive.hardware import TICI
## -- hardcoded hardware params --
eon_f_focal_length = 910.0
eon_d_focal_length = 650.0
tici_f_focal_length = 2648.0
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
eon_f_frame_size = (1164, 874)
eon_d_frame_size = (816, 612)
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
# aka 'K' aka camera_frame_from_view_frame
eon_fcam_intrinsics = np.array([
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
[0.0, 0.0, 1.0]])
eon_intrinsics = eon_fcam_intrinsics # xx
eon_dcam_intrinsics = np.array([
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
[0.0, 0.0, 1.0]])
tici_fcam_intrinsics = np.array([
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
[0.0, 0.0, 1.0]])
tici_dcam_intrinsics = np.array([
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
[0.0, 0.0, 1.0]])
tici_ecam_intrinsics = tici_dcam_intrinsics
# aka 'K_inv' aka view_frame_from_camera_frame
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
if not TICI:
FULL_FRAME_SIZE = eon_f_frame_size
FOCAL = eon_f_focal_length
fcam_intrinsics = eon_fcam_intrinsics
else:
FULL_FRAME_SIZE = tici_f_frame_size
FOCAL = tici_f_focal_length
fcam_intrinsics = tici_fcam_intrinsics
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
# device/mesh : x->forward, y-> right, z->down
# view : x->right, y->down, z->forward
device_frame_from_view_frame = np.array([
[ 0., 0., 1.],
[ 1., 0., 0.],
[ 0., 1., 0.]
])
view_frame_from_device_frame = device_frame_from_view_frame.T
def get_calib_from_vp(vp):
vp_norm = normalize(vp)
yaw_calib = np.arctan(vp_norm[0])
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
roll_calib = 0
return roll_calib, pitch_calib, yaw_calib
# aka 'extrinsic_matrix'
# road : x->forward, y -> left, z->up
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
view_from_road = view_frame_from_device_frame.dot(device_from_road)
return np.hstack((view_from_road, [[0], [height], [0]]))
# aka 'extrinsic_matrix'
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
return np.hstack((view_from_calib, [[0], [height], [0]]))
def vp_from_ke(m):
"""
Computes the vanishing point from the product of the intrinsic and extrinsic
matrices C = KE.
The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
"""
return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
ke = np.dot(intrinsics, e)
return vp_from_ke(ke)
def roll_from_ke(m):
# note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
def normalize(img_pts, intrinsics=fcam_intrinsics):
# normalizes image coordinates
# accepts single pt or array of pts
intrinsics_inv = np.linalg.inv(intrinsics)
img_pts = np.array(img_pts)
input_shape = img_pts.shape
img_pts = np.atleast_2d(img_pts)
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
img_pts_normalized = img_pts.dot(intrinsics_inv.T)
img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
return img_pts_normalized[:, :2].reshape(input_shape)
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
# denormalizes image coordinates
# accepts single pt or array of pts
img_pts = np.array(img_pts)
input_shape = img_pts.shape
img_pts = np.atleast_2d(img_pts)
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
img_pts_denormalized = img_pts.dot(intrinsics.T)
if np.isfinite(width):
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
if np.isfinite(height):
img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
return img_pts_denormalized[:, :2].reshape(input_shape)
def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
# device from ecef frame
# device frame is x -> forward, y-> right, z -> down
# accepts single pt or array of pts
input_shape = pt_ecef.shape
pt_ecef = np.atleast_2d(pt_ecef)
ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
device_from_ecef_rot = ecef_from_device_rot.T
pt_ecef_rel = pt_ecef - pos_ecef
pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
return pt_device.reshape(input_shape)
def img_from_device(pt_device):
# img coordinates from pts in device frame
# first transforms to view frame, then to img coords
# accepts single pt or array of pts
input_shape = pt_device.shape
pt_device = np.atleast_2d(pt_device)
pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
# This function should never return negative depths
pt_view[pt_view[:, 2] < 0] = np.nan
pt_img = pt_view/pt_view[:, 2:3]
return pt_img.reshape(input_shape)[:, :2]
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
calib_frame_from_ground = np.dot(intrinsics,
get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
return camera_frame_from_calib_frame
common/transformations/coordinates.cc
+102
View File
@@ -0,0 +1,102 @@
#define _USE_MATH_DEFINES
#include <iostream>
#include <cmath>
#include <eigen3/Eigen/Dense>
#include "coordinates.hpp"
double a = 6378137; // lgtm [cpp/short-global-name]
double b = 6356752.3142; // lgtm [cpp/short-global-name]
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
double e1sq = 6.73949674228 * 0.001;
static Geodetic to_degrees(Geodetic geodetic){
geodetic.lat = RAD2DEG(geodetic.lat);
geodetic.lon = RAD2DEG(geodetic.lon);
return geodetic;
}
static Geodetic to_radians(Geodetic geodetic){
geodetic.lat = DEG2RAD(geodetic.lat);
geodetic.lon = DEG2RAD(geodetic.lon);
return geodetic;
}
ECEF geodetic2ecef(Geodetic g){
g = to_radians(g);
double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
return {x, y, z};
}
Geodetic ecef2geodetic(ECEF e){
// Convert from ECEF to geodetic using Ferrari's methods
// https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
double x = e.x;
double y = e.y;
double z = e.z;
double r = sqrt(x * x + y * y);
double Esq = a * a - b * b;
double F = 54 * b * b * z * z;
double G = r * r + (1 - esq) * z * z - esq * Esq;
double C = (esq * esq * F * r * r) / (pow(G, 3));
double S = cbrt(1 + C + sqrt(C * C + 2 * C));
double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
double Q = sqrt(1 + 2 * esq * esq * P);
double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
double U = sqrt(pow((r - esq * r_0), 2) + z * z);
double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
double Z_0 = b * b * z / (a * V);
double h = U * (1 - b * b / (a * V));
double lat = atan((z + e1sq * Z_0) / r);
double lon = atan2(y, x);
return to_degrees({lat, lon, h});
}
LocalCoord::LocalCoord(Geodetic g, ECEF e){
init_ecef << e.x, e.y, e.z;
g = to_radians(g);
ned2ecef_matrix <<
-sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
-sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
cos(g.lat), 0, -sin(g.lat);
ecef2ned_matrix = ned2ecef_matrix.transpose();
}
NED LocalCoord::ecef2ned(ECEF e) {
Eigen::Vector3d ecef;
ecef << e.x, e.y, e.z;
Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
return {ned[0], ned[1], ned[2]};
}
ECEF LocalCoord::ned2ecef(NED n) {
Eigen::Vector3d ned;
ned << n.n, n.e, n.d;
Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
return {ecef[0], ecef[1], ecef[2]};
}
NED LocalCoord::geodetic2ned(Geodetic g) {
ECEF e = ::geodetic2ecef(g);
return ecef2ned(e);
}
Geodetic LocalCoord::ned2geodetic(NED n){
ECEF e = ned2ecef(n);
return ::ecef2geodetic(e);
}

Some files were not shown because too many files have changed in this diff Show More