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openpilot v0.3.7 release

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old-commit-hash: daf54ad54d
This commit is contained in:
Vehicle Researcher
2017-09-30 03:07:27 -07:00
parent 7a6d152ae0
commit 2c0cc6103a
130 changed files with 3557 additions and 1717 deletions
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selfdrive/common/cereal.mk
+16 -4
View File
@@ -1,14 +1,27 @@
UNAME_M ?= $(shell uname -m)
ifeq ($(UNAME_M),x86_64)
UNAME_S ?= $(shell uname -s)
CEREAL_CFLAGS = -I$(ONE)/external/capnp/include
ifeq ($(UNAME_S),Darwin)
CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/mac/include
CEREAL_LIBS = $(PHONELIBS)/capnp-cpp/mac/lib/libcapnp.a \
$(PHONELIBS)/capnp-cpp/mac/lib/libkj.a \
$(PHONELIBS)/capnp-c/mac/lib/libcapnp_c.a
else ifeq ($(UNAME_M),x86_64)
CEREAL_CFLAGS = -I$(BASEDIR)/external/capnp/include
CEREAL_CXXFLAGS = $(CEREAL_CFLAGS)
ifeq ($(CEREAL_LIBS),)
CEREAL_LIBS = -L$(ONE)/external/capnp/lib \
CEREAL_LIBS = -L$(BASEDIR)/external/capnp/lib \
-l:libcapnp.a -l:libkj.a -l:libcapnp_c.a
endif
else
CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/include
ifeq ($(CEREAL_LIBS),)
@@ -30,4 +43,3 @@ car.capnp.o: ../../cereal/gen/cpp/car.capnp.c++
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) $(CEREAL_CXXFLAGS) \
-c -o '$@' '$<'
selfdrive/common/mat.h
+20
View File
@@ -65,4 +65,24 @@ static inline vec4 matvecmul(const mat4 a, const vec4 b) {
return ret;
}
// scales the input and output space of a transformation matrix
// that assumes pixel-center origin.
static inline mat3 transform_scale_buffer(const mat3 in, float s) {
// in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
mat3 transform_out = {{
1.0f/s, 0.0f, 0.5f,
0.0f, 1.0f/s, 0.5f,
0.0f, 0.0f, 1.0f,
}};
mat3 transform_in = {{
s, 0.0f, -0.5f*s,
0.0f, s, -0.5f*s,
0.0f, 0.0f, 1.0f,
}};
return matmul3(transform_in, matmul3(in, transform_out));
}
#endif
selfdrive/common/params.c → selfdrive/common/params.cc
+23 -2
View File
@@ -11,6 +11,18 @@
#include <stdlib.h>
#include <stdio.h>
namespace {
template <typename T>
T* null_coalesce(T* a, T* b) {
return a != NULL ? a : b;
}
static const char* default_params_path = null_coalesce(
const_cast<const char*>(getenv("PARAMS_PATH")), "/data/params");
} // namespace
int write_db_value(const char* params_path, const char* key, const char* value,
size_t value_size) {
int lock_fd = -1;
@@ -18,6 +30,11 @@ int write_db_value(const char* params_path, const char* key, const char* value,
int result;
char tmp_path[1024];
char path[1024];
ssize_t bytes_written;
if (params_path == NULL) {
params_path = default_params_path;
}
// Write value to temp.
result =
@@ -27,7 +44,7 @@ int write_db_value(const char* params_path, const char* key, const char* value,
}
tmp_fd = mkstemp(tmp_path);
const ssize_t bytes_written = write(tmp_fd, value, value_size);
bytes_written = write(tmp_fd, value, value_size);
if (bytes_written != value_size) {
result = -20;
goto cleanup;
@@ -79,6 +96,10 @@ int read_db_value(const char* params_path, const char* key, char** value,
int result;
char path[1024];
if (params_path == NULL) {
params_path = default_params_path;
}
result = snprintf(path, sizeof(path), "%s/.lock", params_path);
if (result < 0) {
goto cleanup;
@@ -99,7 +120,7 @@ int read_db_value(const char* params_path, const char* key, char** value,
// Read value.
// TODO(mgraczyk): If there is a lot of contention, we can release the lock
// after opening the file, before reading.
*value = read_file(path, value_sz);
*value = static_cast<char*>(read_file(path, value_sz));
if (*value == NULL) {
result = -22;
goto cleanup;
selfdrive/common/params.h
+1 -3
View File
@@ -7,14 +7,12 @@
extern "C" {
#endif
#define PARAMS_PATH "/data/params"
int write_db_value(const char* params_path, const char* key, const char* value,
size_t value_size);
// Reads a value from the params database.
// Inputs:
// params_path: The path of the database, eg /sdcard/params.
// params_path: The path of the database, or NULL to use the default.
// key: The key to read.
// value: A pointer where a newly allocated string containing the db value will
// be written.
selfdrive/common/swaglog.h
+36
View File
@@ -1,6 +1,8 @@
#ifndef SWAGLOG_H
#define SWAGLOG_H
#include "common/timing.h"
#define CLOUDLOG_DEBUG 10
#define CLOUDLOG_INFO 20
#define CLOUDLOG_WARNING 30
@@ -24,9 +26,43 @@ void cloudlog_bind(const char* k, const char* v);
__func__, \
fmt, ## __VA_ARGS__)
#define cloudlog_rl(burst, millis, lvl, fmt, ...) \
{ \
static uint64_t __begin = 0; \
static int __printed = 0; \
static int __missed = 0; \
\
int __burst = (burst); \
int __millis = (millis); \
uint64_t __ts = nanos_since_boot(); \
\
if (!__begin) __begin = __ts; \
\
if (__begin + __millis*1000000ULL < __ts) { \
if (__missed) { \
cloudlog(CLOUDLOG_WARNING, "cloudlog: %d messages supressed", __missed); \
} \
__begin = 0; \
__printed = 0; \
__missed = 0; \
} \
\
if (__printed < __burst) { \
cloudlog(lvl, fmt, ## __VA_ARGS__); \
__printed++; \
} else { \
__missed++; \
} \
}
#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__)
#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
#endif
selfdrive/common/timing.h
+14 -1
View File
@@ -5,7 +5,7 @@
#include <time.h>
#ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_REALTIME
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
#endif
static inline uint64_t nanos_since_boot() {
@@ -38,4 +38,17 @@ static inline double seconds_since_epoch() {
return (double)t.tv_sec + t.tv_nsec * 1e-9;
}
// you probably should use nanos_since_boot instead
static inline uint64_t nanos_monotonic() {
struct timespec t;
clock_gettime(CLOCK_MONOTONIC, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}
static inline uint64_t nanos_monotonic_raw() {
struct timespec t;
clock_gettime(CLOCK_MONOTONIC_RAW, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}
#endif
selfdrive/common/util.c
+11
View File
@@ -3,6 +3,10 @@
#include <string.h>
#include <assert.h>
#ifdef __linux__
#include <sys/prctl.h>
#endif
void* read_file(const char* path, size_t* out_len) {
FILE* f = fopen(path, "r");
if (!f) {
@@ -28,3 +32,10 @@ void* read_file(const char* path, size_t* out_len) {
return buf;
}
void set_thread_name(const char* name) {
#ifdef __linux__
// pthread_setname_np is dumb (fails instead of truncates)
prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
#endif
}
selfdrive/common/util.h
+14
View File
@@ -1,6 +1,9 @@
#ifndef COMMON_UTIL_H
#define COMMON_UTIL_H
#ifndef __cplusplus
#define min(a,b) \
({ __typeof__ (a) _a = (a); \
__typeof__ (b) _b = (b); \
@@ -11,6 +14,8 @@
__typeof__ (b) _b = (b); \
_a > _b ? _a : _b; })
#endif
#define clamp(a,b,c) \
({ __typeof__ (a) _a = (a); \
__typeof__ (b) _b = (b); \
@@ -19,11 +24,20 @@
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
#ifdef __cplusplus
extern "C" {
#endif
// Reads a file into a newly allocated buffer.
//
// Returns NULL on failure, otherwise the NULL-terminated file contents.
// The result must be freed by the caller.
void* read_file(const char* path, size_t* out_len);
void set_thread_name(const char* name);
#ifdef __cplusplus
}
#endif
#endif
selfdrive/common/utilpp.h
+4
View File
@@ -9,6 +9,10 @@
#include <sstream>
#include <fstream>
#ifdef __x86_64
#include <linux/limits.h>
#endif
namespace util {
inline bool starts_with(std::string s, std::string prefix) {
selfdrive/common/version.h
+1 -1
View File
@@ -1 +1 @@
#define OPENPILOT_VERSION "0.3.6.1"
#define OPENPILOT_VERSION "0.3.7"
selfdrive/common/visionipc.c
+5 -4
View File
@@ -1,6 +1,7 @@
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <unistd.h>
#include <assert.h>
#include <errno.h>
@@ -126,7 +127,7 @@ int vipc_send(int fd, const VisionPacket *p2) {
return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
}
void visionbufs_load(VisionBuf *bufs, const VisionStreamBufs *stream_bufs,
void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
int num_fds, const int* fds) {
for (int i=0; i<num_fds; i++) {
if (bufs[i].addr) {
@@ -180,10 +181,10 @@ int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, Visi
s->bufs_info = rp.d.stream_bufs;
s->num_bufs = rp.num_fds;
s->bufs = calloc(s->num_bufs, sizeof(VisionBuf));
s->bufs = calloc(s->num_bufs, sizeof(VIPCBuf));
assert(s->bufs);
visionbufs_load(s->bufs, &rp.d.stream_bufs, s->num_bufs, rp.fds);
vipc_bufs_load(s->bufs, &rp.d.stream_bufs, s->num_bufs, rp.fds);
if (out_bufs_info) {
*out_bufs_info = s->bufs_info;
@@ -192,7 +193,7 @@ int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, Visi
return 0;
}
VisionBuf* visionstream_get(VisionStream *s, VisionBufExtra *out_extra) {
VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
int err;
VisionPacket rp;
selfdrive/common/visionipc.h
+8 -8
View File
@@ -47,9 +47,9 @@ typedef struct VisionStreamBufs {
} buf_info;
} VisionStreamBufs;
typedef struct VisionBufExtra {
typedef struct VIPCBufExtra {
uint32_t frame_id; // only for yuv
} VisionBufExtra;
} VIPCBufExtra;
typedef union VisionPacketData {
struct {
@@ -60,7 +60,7 @@ typedef union VisionPacketData {
struct {
VisionStreamType type;
int idx;
VisionBufExtra extra;
VIPCBufExtra extra;
} stream_acq;
struct {
VisionStreamType type;
@@ -79,12 +79,12 @@ int vipc_connect(void);
int vipc_recv(int fd, VisionPacket *out_p);
int vipc_send(int fd, const VisionPacket *p);
typedef struct VisionBuf {
typedef struct VIPCBuf {
int fd;
size_t len;
void* addr;
} VisionBuf;
void visionbufs_load(VisionBuf *bufs, const VisionStreamBufs *stream_bufs,
} VIPCBuf;
void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
int num_fds, const int* fds);
@@ -94,11 +94,11 @@ typedef struct VisionStream {
int last_idx;
int num_bufs;
VisionStreamBufs bufs_info;
VisionBuf *bufs;
VIPCBuf *bufs;
} VisionStream;
int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
VisionBuf* visionstream_get(VisionStream *s, VisionBufExtra *out_extra);
VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
void visionstream_destroy(VisionStream *s);
#ifdef __cplusplus